A method of fabricating and repairing a gas turbine component having a plurality of cooling holes defined therein is provided. The method includes determining a parameter of a first cooling hole defined in the gas turbine component, and generating a tool path for forming a protective cap around the first cooling hole. The tool path is based at least partially on the parameter of the first cooling hole. The method also includes directing a robotic device to follow the tool path, and discharging successive layers of ceramic slurry towards the gas turbine component as the tool path is followed such that the protective cap is formed around the first cooling hole.

Example implementations relate to generating instructions for robotic tasks. A method may involve determining task information of a path-based task by an end-effector on an object, where the task information includes (i) at least one task parameter, and (ii) a nominal representation of the object. The method also involves based on the task information, determining one or more parametric instructions for the end-effector to perform the task, where the one or more parametric instructions indicate a toolpath for the end-effector to follow when performing the task. The method also involves generating, based on sensor data, an observed representation of the object, and comparing the observed and the nominal representations. The method further involves based on the comparison, mapping the parametric instructions to the observed representation of the object. The method yet further involves sending the mapped instructions to the end-effector to cause the robotic device to perform the task.

A method of fabricating and repairing a gas turbine component having a plurality of cooling holes defined therein is provided. The method includes determining a parameter of a first cooling hole defined in the gas turbine component, and generating a tool path for forming a protective cap around the first cooling hole. The tool path is based at least partially on the parameter of the first cooling hole. The method also includes directing a robotic device to follow the tool path, and discharging successive layers of ceramic slurry towards the gas turbine component as the tool path is followed such that the protective cap is formed around the first cooling hole.

A method substantially simultaneously plans a path and maps an environment by a robot. The method determines a mean of an occupancy level for a location in a map. The method also includes determining a probability distribution function (PDF) of the occupancy level. The method further includes calculating a cost function based on the PDF. Finally, the method includes simultaneously planning the path and mapping the environment based on the cost function.

An apparatus and method for providing robot work data adaptive to changes in a work environment. The apparatus may include a robot work data provider, a robot work data processor, and a robot motion data provider. The apparatus and method define a robot's work using an obtained work path and obtained environmental information, and provide robot motion data to control robot motions to actively adapt to changes in its work environment.

A trajectory generation device includes a storage unit that stores a plurality of trajectories; a trajectory acquisition unit that acquires a trajectory, corresponding to an environment similar to a current environment, from the plurality of trajectories stored in the storage unit; and a trajectory generation unit that calculates a longest trajectory part, which is present in a moving object moving area in the trajectory acquired by the trajectory acquisition unit, and generates a trajectory by connecting both ends of the calculated longest trajectory part to a predetermined start point and a predetermined end point respectively.

Methods, apparatus, systems, and computer readable media are provided for real-time generation of trajectories for actuators of a robot, where the trajectories are generated to lessen the chance of collision with one or more objects in the environment of the robot. In some implementations, a real-time trajectory generator is used to generate trajectories for actuators of a robot based on a current motion state of the actuators, a target motion state of the actuators, and kinematic motion constraints of the actuators. The acceleration constraints and/or other kinematic constraints that are used by the real-time trajectory generator to generate trajectories at a given time are determined so as to lessen the chance of collision with one or more obstacles in the environment of the robot.

This disclosure concerns a method for selecting a tool-path strategy in a material processing operation. The geometry of a work piece (34) and the contact patch (36) of a tool are determined and used to define a tool-path boundary (30,32). A number of different possible tool-paths (38,40,46) are then simulated within the tool-path boundary (30) and the most preferred tool-path (38,40,46) is selected based on predefined requirements.

The invention relates to a method and device for controlling and regulating motors, MOT.sub.m, of a robot, with m=1, 2, . . . M, wherein the robot has robot components that are interconnected via a number, N, of articulated connections GEL.sub.n, the joint angles of the articulated connections GEL.sub.n can be adjusted by means of associated motors MOT.sub.m; Z(t.sub.k) is a state of the robot components in an interval, t.sub.k; and a first system of coupled motion equations BGG is predetermined and describes rigid-body dynamics or flexible-body dynamics of the connected robot components.

Based on the premise that a step-out will occur in a stepping motor, this invention provides a suitable countermeasure for when a step-out occurs. A robot device includes: a robot arm mechanism having a joint; a stepping motor that generates motive power that actuates the joint; a motor driver that drives the stepping motor; a trajectory calculating section that calculates a trajectory along which an attention point of the robot arm mechanism moves from a current position to a final target position; a command value outputting section that outputs a command value in accordance with the trajectory calculated by the trajectory calculating section to the motor driver; and a step-out detecting section that detects a step-out of the stepping motor. The robot device also includes a system control section. When a step-out is detected, the system control section controls the trajectory calculating section and the command value outputting section so as to recalculate a trajectory to the final target position from a position of the attention point that is shifted due to the step-out, and to move the attention point in accordance with the recalculated trajectory.