A robot system including a robot and a control device that controls the robot. The robot includes a first member, a second member that is rotationally driven around a predetermined first axis relative to the first member, and a first torque detector that detects a torque around the first axis. The control device includes an external-force upper-limit-value estimator that estimates an external-force upper limit value serving as an assumable upper limit value for an external force acting on the second member based on the torque detected by the first torque detector, and controls the robot to avoid an increase in the external force when the estimated external-force upper limit value is larger than a predetermined threshold value.

A method of adjusting a motion parameter includes a first information acquisition step of acquiring first information on a motion condition of a robot arm when a first motion parameter is set and the robot arm is controlled to perform a motion, a third information acquisition step of inputting the first information and second information on attributes of the robot to a vibration estimation model and acquiring output third information, and a second motion parameter acquisition step of acquiring a second motion parameter that shortens a working time using the first information, the second information, and the third information. The steps are repeatedly executed using the acquired second motion parameter as the first motion parameter and a target work motion parameter is acquired.

An operation command generation device includes movement curve designation circuitry configured to determine a movement curve describing an operation of each of at least one mechanism element included in a virtual mechanism, and operation command generation circuitry configured to generate an operation command to control an actual mechanism based on the movement curve.

In one embodiment, a method includes determining objects and actions associated with the objects for completing a task to be executed by a robotic system, wherein each action is associated with trajectory, determining a pose for each person in an environment associated with the robotic system, predicting a trajectory for each person based on the determined pose associated with the respective person and the actions and trajectories associated with the actions, and adjusting trajectories for one or more of the actions to be performed by the robotic system based on the predicted trajectories for each person.

A robotic line kitting system is disclosed. In various embodiments, data indicating for each of a plurality of operating zones comprising a workspace with which the robotic line kitting system is associated a corresponding safety state information is stored. The data is used to dynamically schedule and perform tasks associated with a higher level objective, including by operating the one or more robotic instrumentalities in one or more operating zones, if any, indicated by said data to currently be available to perform tasks using the one or more robotic instrumentalities and by not operating the one or more robotic instrumentalities in one or more operating zones, if any, indicated by said data to not currently be available to perform tasks using the one or more robotic instrumentalities.

A robotic singulation system is disclosed. In various embodiments, sensor data including data associated with an item present in a workspace is received. The sensor data is used to determine and implement a plan to autonomously operate a robotic structure to move and place the item singly in a corresponding location in a singulation conveyance structure. The plan takes into consideration an attribute of the item determined based at least in part on the sensor data.

A robotic singulation system is disclosed. In various embodiments, sensor data image data associated with a plurality of items present in a workspace is received. The sensor data is used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workspace and place each item singly in a corresponding location in a singulation conveyance structure. The plan includes performing an active measure to change or adapt to a detected state or condition associated with one or more items in the workspace.

A robot control system includes robot controller circuitry that controls a robot, and host controller circuitry that communicates with the robot controller circuitry. The host controller circuitry further executes a control program, and transmits a command according to an execution result of the control program to the robot controller circuitry, and the robot controller circuitry further receives the command from the host controller circuitry, and executes pre-processing according to the command.

A method for carrying out a predetermined task using a robot, which is redundant with regard to the task. When the task is carried out, an admittance motion that is dependent on a force exerted externally on the robot and on a predetermined virtual mass, stiffness and/or damping is carried out in the zero space.

A method of controlling a robot having a plurality of joints includes measuring load torque applied to a driving-force transmission system of each of the plurality of joints while moving a hand of the robot along a predetermined path, comparing a measurement value of the load torque and an allowable range of each of the joints, and controlling a rate of change in acceleration of the driving-force transmission system of each of the joints, depending on a comparison result, in a next operation in which the hand of the robot is moved along the predetermined path.