Methods, systems, and apparatus, including computer programs encoded on computer storage media, for a composability framework that supports the coordination of the low-level actions of multiple subsystems. One of the methods comprises receiving a multi-device application definition for a real-time robotic control system configured to perform operations comprising controlling a robotic execution environment having multiple robotic components, wherein the application definition comprises: one or more custom high-level software modules for each robotic component of the multiple robotic components; respective module interface definitions for each of the custom high-level software modules, wherein a module interface definition of a custom high-level software module specifies one or more asynchronous or real-time communication channels; and respective device interface definitions for each of the multiple robotic components; and processing the application definition to generate output programs to be executed respectively by the multiple robotic components.

A remote control system includes: an imaging unit that shoots an environment in which a device to be operated including an end effector is located; an operation terminal having a function for displaying a shot image of the environment shot by the imaging unit and receiving handwritten input information input to the displayed shot image, and allowing a user to have a conversation with the device to be operated through a text chat; and an estimation unit that estimates an object to be grasped which has been requested to be grasped by the end effector and estimates a way of performing a grasping motion by the end effector based on the handwritten input information input to the shot image and a conversation history of the text chat, the grasping motion having been requested to be performed with regard to the object to be grasped.

A method for problem diagnosis in a robot system having one or more robots includes the steps of: a) receiving (S1) a first problem message from a robot of the robot system, the first problem message including one or more data elements descriptive of a problem experienced by the robot; b) receiving (S1) a subsequent problem message from a robot of the robot system; c) if a time elapsed between receipt of the subsequent problem message and receipt of an immediately preceding problem message is shorter than a predetermined threshold (S2), adding the subsequent problem message to a message set which comprises the immediately preceding problem message (S3); and d) if the time elapsed is longer than the predetermined threshold (S2), terminating (S4) the message set of the immediately preceding problem message without adding the subsequent problem message, and establishing (S5, S6) a new message set.

To provide a robot controller and a robot control method that do not need a logic command to be associated with a teaching position for a robot, and that are thus capable of executing the logic command at a desired position and a desired timing. A robot controller includes: an operation command interpretation unit that interprets an operation command program describing a teaching operation and a teaching position for a robot, and that generates an operation command; a logic command interpretation unit that interprets a logic command program describing a logic command instructing a machining process to be performed by the robot and an execution position for the logic command, independently from the teaching operation and the teaching position, and that generates the logic command that includes the execution position; and a command execution unit that executes the operation command and the logic command.

An integrated intelligent system includes a first intelligent electronic device, a second intelligent electronic device, a transferable intelligent control device (TICD) and a cross product bus. The first intelligent electronic device performs a first function and the second intelligent electronic device performs a second function. The cross product bus couples the first intelligent electronic device to the transferable intelligent control device. The TICD partially controls behaviors of the intelligent electronic device by sending commands over the cross product bus to the first intelligent electronic device and the TICD partially controls behaviors of the second intelligent electronic device to perform the second function. The TICD is first attached to the first intelligent electronic device to partially control the behaviors of the first electronic device, then detached from the first electronic device, and then attached to the second intelligent electronic device to perform the second function.

Systems, methods, devices, and other techniques are described for planning motions of one or more robots to perform at least one specified task. In some implementations, a task to execute with a robotic system using a tool is identified. A partially constrained pose is identified for the tool that is to apply during execution of the task. A set of possible constraints for the unconstrained pose parameter are selected for each unconstrained pose parameter. The sets of possible constraints are evaluated for the unconstrained pose parameters with respect to one or more task execution criteria. A nominal pose is determined for the tool based on a result of evaluating the sets of possible constraints for the unconstrained pose parameters with respect to the one or more task execution criteria. The robotic system is then directed to execute the task, including positioning the tool according to the nominal pose.

A control apparatus includes an operation unit that teaches the robot a position, a posture changing instruction unit that instructs a position change when the robot passes through a singularity or its vicinity, a singularity passing motion request unit that instructs the robot to change its posture, a robot drive information request unit that acquires robot drive information, and a robot G-code generation unit that inserts a G-code from the robot drive information into a program. A robot includes a drive control unit that drives the robot, a singularity determination unit that determines passage through the singularity or its vicinity, a singularity passing pattern generation unit that generates a motion plan for passage through the singularity or its vicinity based on the changed posture, and a robot drive information output unit that transmits the robot drive information to the control apparatus.

An approach for fully automating the use of robotic devices in a laboratory workflow includes defining sequences for automating tasks and equipment involved in such a workflow, and calculating a path for each sequence that resolves get, handoff, and placement procedures. The approach develops a schedule that executes resolved pathways in and between each device. The approach is provided with an easy-to-use interface, in which a user drags and drops devices to automatically configure them, defines operations to be performed by these devices, and then runs the laboratory workflow. The interface also provides the ability to monitor progress of the workflow, and make modifications and adjustments as needed.

This disclosure describes systems, methods, and devices related to robotic point capture and motion control. A robotic device may synchronize one or more robotic device axes with one or more axes of a handheld control device. The robotic device may establish a connection between a robotic device and the handheld control device, wherein the robotic device is capable of moving along the one or more robotic device axes. The robotic device may receive a control signal comprising an indication to transition to a point in space along travel path, wherein the travel path is based on information relating to one or more locations and one or more orientations of the handheld control device. The robotic device may cause to transition an end effector of the robotic device to the point in space based on the indication in the control signal.

To generate an easy-to-understand program for a robot in a simple way. A robot programming device performs programming using an operation unit block. The robot programming device includes a display control unit that displays a programming region and an advanced setting region on a display unit. The programming region is a region for programming for running the robot by setting an operation unit block defined for each operation unit of the robot. The advanced setting region is a region for making setting relating to the operation unit block.