A robot system includes a robot; a peripheral device disposed around the robot; a control unit configured to operate at least the robot based on a program; a suspension unit configured to suspend a plurality of sequential operations performed by the robot in conjunction with the peripheral device based on an operation program if an irregular state occurs in the peripheral device; and a simulator. The simulator is configured to generate a recovery program based at least on a robot state information of the robot at the time of suspending the operation due to an occurrence of the irregular state, in which the control unit is further configured to cause the robot to operate with respect to the peripheral device based on the recovery program so that an operation by the suspended operation program becomes resumable.

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.

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.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for robot plan online adjustment. A method includes receiving an initial plan for performing a particular task with a robot having a sensor. The initial plan defines an initial path having a plurality of waypoints and a footprint space for performing the particular task. The method includes receiving a sensor input from the sensor, and determining from the sensor input that the initial plan requires modification to complete the particular task. The method includes evaluating a plurality of alternative paths, including rejecting one or more alternative paths having any alternative waypoints that are outside the footprint space defined by the initial plan. The method includes selecting an alternative path having alternative waypoints that are all within the footprint space defined by the initial plan. The method includes following, by the robot, the alternative path.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing robot plan online adjustment. A method includes receiving an initial plan for performing a particular task with a robot having a sensor. The initial plan defines an initial path having a plurality of waypoints. Each waypoint is associated with a target position and a target velocity. The method includes generating an alternative path from the initial path. Generating an alternative path includes generating a plurality of alternative paths including performing respective modifications to one or more waypoints in the initial plan, evaluating each alternative path according to a simulated total time duration required for the robot to traverse the alternative path, and selecting an alternative path having a total time duration that is less than a total time duration of the initial plan.

A solar rotational manufacturing system having a monitoring device, a controller, a heliostat having a heliostat controller, a rotational apparatus having a rotational controller, and a mold, wherein the monitoring device is configured to collect actual data regarding a characteristic of the solar rotational heating system and transmit actual data to the controller, the controller is configured to receive a reference parameter, an affecting parameter, and linking instructions, receive actual data from the monitoring device, compare actual data with a reference parameter, determine an affecting parameter to alter, and transmit alteration instructions to the heliostat controller and/or the rotational controller, the heliostat controller is configured to receive the alteration instructions from the controller and execute the alteration instructions, and the rotational controller is configured to receive the alteration instructions from the controller and execute the alteration instructions.

A coordination system for a handling device including a plurality of kinematic chains is provided. Each of the kinematic chains being movable in a workspace. At least two of the workspaces having an overlap, the kinematic chains being designed to carry out a work movement based on a work command. The coordination system includes a trajectory planning module and a control module. The control module is designed to activate the kinematic chains to carry out the work movement based on trajectory data. The trajectory planning module is designed to determine the trajectory data to carry out the work movement and to provide the trajectory data to the control module. The trajectory planning module is designed, if a further work command is provided while the work movement is being carried out, to replan the trajectory data into replanned trajectory data and provide these data to the control module.

A machine vision-based method and system for measuring 3D pose of a part or subassembly of parts having an unknown pose are disclosed. A number of different applications of the method and system are disclosed including applications which utilize a reprogrammable industrial automation machine such as a robot. The method includes providing a reference cloud of 3D voxels which represent a reference surface of a reference part or subassembly having a known reference pose. Using at least one 2D/3D hybrid sensor, a sample cloud of 3D voxels which represent a corresponding surface of a sample part or subassembly of the same type as the reference part or subassembly is acquired. The sample part or subassembly has an actual pose different from the reference pose. The voxels of the sample and reference clouds are processed utilizing a matching algorithm to determine the pose of the sample part or subassembly.

A machine vision-based method and system for measuring 3D pose of a part or subassembly of parts having an unknown pose are disclosed. A number of different applications of the method and system are disclosed including applications which utilize a reprogrammable industrial automation machine such as a robot. The method includes providing a reference cloud of 3D voxels which represent a reference surface of a reference part or subassembly having a known reference pose. Using at least one 2D/3D hybrid sensor, a sample cloud of 3D voxels which represent a corresponding surface of a sample part or subassembly of the same type as the reference part or subassembly is acquired. The sample part or subassembly has an actual pose different from the reference pose. The voxels of the sample and reference clouds are processed utilizing a matching algorithm to determine the pose of the sample part or subassembly.

A solar rotational manufacturing system having a monitoring device, a controller, a heliostat having a heliostat controller, a rotational apparatus having a rotational controller, and a mold, wherein the monitoring device is configured to collect actual data regarding a characteristic of the solar rotational heating system and transmit actual data to the controller, the controller is configured to receive a reference parameter, an affecting parameter, and linking instructions, receive actual data from the monitoring device, compare actual data with a reference parameter, determine an affecting parameter to alter, and transmit alteration instructions to the heliostat controller and/or the rotational controller, the heliostat controller is configured to receive the alteration instructions from the controller and execute the alteration instructions, and the rotational controller is configured to receive the alteration instructions from the controller and execute the alteration instructions.