A robot simulator includes a storage device that stores model information related to the robot and an obstacle in the vicinity of the robot, and an acquisition device that obtains first input information defining a start position and an end position of operation of the robot. A processing device generates a path for moving the distal end portion of the robot from the start position to the end position while avoiding collisions between the robot and the obstacle based on the first input information and the model information. The processing device also generates image data including an illustration of the obstacle and an index indicating a via-point of the path.

A numerical control device according to an aspect of the present disclosure controls a machine tool that machines a workpiece by way of a tool in accordance with a machining program, and includes: an offset setting unit which decides an offset direction and an offset amount with an orientation of the tool as a reference, for every tool; a test-running path calculation unit which calculates a test-running movement path of the tool obtained by offsetting by the offset amount in the offset direction from a machining movement path of the tool designated by the machining program; and an operating mode selection unit which selects either one of a machining operation mode of causing the tool to move following the machining movement path, and a test-run mode of causing the tool to move following the test-running movement path.

Systems and a method determine a sequence of joint values of an external axis along a sequence of targets. Inputs are received, including robot representation, tool representation, sequence of targets, kinematics of the axis joints, and/or type of robot-axis motion. For each target, it is generated at least one weight factor table representing, for each available configuration of the axis joint motion, a combined effort of the robot motion and the axis motion depending on the type of combined robot-axis motion. Valid weight factor values of the table are determined by simulating collision free trajectories for reaching the target. The sequence of joint values of the at least one external axis is determined by finding from the weight factor table a sequence of joint values for which the sum of their corresponding weight factors for reaching the target location sequence is minimized.

A robot and operation method is disclosed. The robot according to the present disclosure may include a sensor, a microphone, and a controller. The robot may execute an artificial intelligence (AI) algorithm and/or a machine learning algorithm, and may communicate with other electronic devices in a 5G communication environment. An embodiment may include detecting a movement of the robot to a location; detecting an obstacle within a predetermined range from the robot; estimating an occupation area of the obstacle in space; and identifying a sound signal received from the estimated occupation area of the obstacle from among a plurality of sound signals received by a plurality of microphones of the robot at the location.

A control device comprising: a processor controls a robot having a robot arm and accept a command from an input unit which enables an input operation; and a storage that stores information about a driving of the robot, wherein the processor carries out first drive control to move a predetermined part of the robot arm or of an end effector connected to the robot arm from a first position toward a second position if the processor accepts a first command to move the predetermined part, and second drive control to move the predetermined part in such a way as to return along at least a part of a route which the predetermined part traces when moving from the first position toward the second position, based on the information stored in the storage, if the processor accepts a second command to retract the predetermined part after the first command.

A numerical control device according to an aspect of the present disclosure controls a machine tool that machines a workpiece by way of a tool in accordance with a machining program, and includes: an offset setting unit which decides an offset direction and an offset amount with an orientation of the tool as a reference, for every tool; a test-running path calculation unit which calculates a test-running movement path of the tool obtained by offsetting by the offset amount in the offset direction from a machining movement path of the tool designated by the machining program; and an operating mode selection unit which selects either one of a machining operation mode of causing the tool to move following the machining movement path, and a test-run mode of causing the tool to move following the test-running movement path.

A numerical controller includes a look-ahead unit configured to look ahead a block in the program into a buffer, a remaining block determination unit configured to determine whether retraction of a tool is needed or return of the tool is needed based on an amount of the block looked ahead in the buffer, a tool operation control unit configured to control retraction and return of the tool when the remaining block determination unit determines that retraction of the tool is needed, a block division unit configured to divide a block to divide at a position apart from both ends of the block according to a command from the tool operation control unit, and a tool path generation unit configured to generate a tool retraction path and a tool return path and insert the generated paths into a divided position in the block divided by the block division unit.

A method for motion planning for at least one robot includes providing a start configuration comprising at least one start position and a destination configuration comprising at least one destination position for the robot, providing a motion of at least one obstacle in the workspace of the robot, the obstacle motion defining a position of the obstacle that varies over time, and determining a motion of the robot from its start configuration to its destination configuration. The robot motion definies a position of the robot over a time period from a start time to a destination time. The robot motion is determined such that at each point in time between the start and destination times a distance between the robot and the obstacle does not fall below a predetermined threshold.

This work region estimation device, which estimates a region in which a worker performs work, is provided with an orientation acquisition unit that acquires worker orientation information, and a work region calculation unit that, on the basis of the orientation information and a worker body model, calculates a region in which a worker operation is forecast.

A method for collision monitoring of a robot includes ascertaining an actual value of an axis load of at least one axis of the robot and identifying a collision of the robot if a deviation between this actual value and a reference value of the axis load exceeds a threshold value. The threshold value is ascertained as a function of at least one preceding deviation between the actual value and the reference value and/or at least one preceding reference value and/or the reference value, is ascertained as a function of a preceding actual value.