A robot programming device is provided with: a robot model movement unit that moves a prescribed movable part of a robot model from a first position to a second position in accordance with instruction content; an arm inversion detection unit that detects whether or not a prescribed state has occurred in which, when the prescribed movable part of the robot model is moved to the second position, any axis constituting the robot model is rotated 180°±a first prescribed value from a rotation angle serving as a reference; and an arm inversion correction unit that, when occurrence of the prescribed state has been detected for any axis constituting the robot model, corrects the posture of the robot model when the prescribed movable part is in the second position so that said axis is not in the prescribed state.

A robot programming device 1 is provided with a model layout unit 112 that lays out a workpiece model of a workpiece, a robot model of a robot, and a tool model of a tool in the virtual space, a machining site designation unit 113 that designates a machining site on the workpiece model, a stereoscopic shape layout unit 115 that lays out a predetermined stereoscopic shape such that a surface of the stereoscopic shape is filled in with a predetermined operation pattern and that the operation pattern is projected to at least one surface of the workpiece model, a machining path creation unit 116 that projects the operation pattern to at least one surface of the workpiece model to create a machining path for the tool, and a change unit 117 that changes the machining path and/or an operation program on the basis of the machining site.

A robot programming device 1 is provided with a model layout unit 112 that lays out a workpiece model of a workpiece, a robot model of a robot, and a tool model of a tool in the virtual space, a machining site designation unit 113 that designates a machining site on the workpiece model, a stereoscopic shape layout unit 115 that lays out a predetermined stereoscopic shape such that a surface of the stereoscopic shape is filled in with a predetermined operation pattern and that the operation pattern is projected to at least one surface of the workpiece model, a machining path creation unit 116 that projects the operation pattern to at least one surface of the workpiece model to create a machining path for the tool, and a change unit 117 that changes the machining path and/or an operation program on the basis of the machining site.

A teaching apparatus includes a display unit that displays a command display area in which a plurality of input motion commands of a robot are displayed, an extraction display area in which at least one motion command extracted from the plurality of motion commands displayed in the command display area is displayed, and a settings input area in which details of the extracted motion command are set, and a display control unit that controls actuation of the display unit, wherein the display control unit extracts and displays a motion command related to one of position information, velocity information, and acceleration information of the robot out of the plurality of motion commands displayed in the command display area in the extraction display area.

Example systems and methods allow for runtime control of robotic devices during a construction process. One example method includes determining at least one sequence of robot operations corresponding to at least one robot actor, causing the at least one robot actor to execute a portion of the at least one sequence of robot operations during a first time period, receiving an interrupt signal from a mobile computing device indicating a modification to the at least one sequence of robot operations, where the mobile computing device is configured to display a digital interface including one or more robot parameters describing the at least one robot actor and one or more tool parameters describing operating characteristics of at least one physical tool, and causing the at least one robot actor to execute a portion of the at least one modified sequence of robot operations during a second time period.

Example systems and methods allow for runtime control of robotic devices during a construction process. One example method includes determining at least one sequence of robot operations corresponding to at least one robot actor, causing the at least one robot actor to execute a portion of the at least one sequence of robot operations during a first time period, receiving an interrupt signal from a mobile computing device indicating a modification to the at least one sequence of robot operations, where the mobile computing device is configured to display a digital interface including one or more robot parameters describing the at least one robot actor and one or more tool parameters describing operating characteristics of at least one physical tool, and causing the at least one robot actor to execute a portion of the at least one modified sequence of robot operations during a second time period.

Examples of providing feedback regarding a scan of a three-dimensional object are described. In one example, a method of computer modeling a three-dimensional object includes computer-tracking a three-dimensional pose of a scanning device relative to the three-dimensional object as the three-dimensional pose of the scanning devices changes to measure different contours of the three-dimensional object from different vantage points, and assessing a sufficiency of contour measurements from one or more of the different vantage points based on measurements received from the scanning device. The example method further includes providing haptic feedback, via a haptic output device, indicating the sufficiency of contour measurements corresponding to a current three-dimensional pose of the scanning device.

Embodiments of the present disclosure are directed to methods, computer program products, and computer systems of a robotic apparatus with robotic instructions replicating a food preparation recipe. In one embodiment, a robotic control platform, comprises one or more sensors; a mechanical robotic structure including one or more end effectors, and one or more robotic arms; an electronic library database of minimanipulations; a robotic planning module configured for real-time planning and adjustment based at least in part on the sensor data received from the one or more sensors in an electronic multi-stage process file, the electronic multi-stage process recipe file including a sequence of minimanipulations and associated timing data; a robotic interpreter module configured for reading the minimanipulation steps from the minimanipulation library and converting to a machine code; and a robotic execution module configured for executing the minimanipulation steps by the robotic platform to accomplish a functional result.

Embodiments of the present disclosure are directed to methods, computer program products, and computer systems of a robotic apparatus with robotic instructions replicating a food preparation recipe. In one embodiment, a robotic control platform, comprises one or more sensors; a mechanical robotic structure including one or more end effectors, and one or more robotic arms; an electronic library database of minimanipulations; a robotic planning module configured for real-time planning and adjustment based at least in part on the sensor data received from the one or more sensors in an electronic multi-stage process file, the electronic multi-stage process recipe file including a sequence of minimanipulations and associated timing data; a robotic interpreter module configured for reading the minimanipulation steps from the minimanipulation library and converting to a machine code; and a robotic execution module configured for executing the minimanipulation steps by the robotic platform to accomplish a functional result.

A control device according to an embodiment receives first posture data of a posture of a first robot. The first robot includes a first manipulator and a first end effector. Furthermore, the control device sets the posture of the first robot based on the first posture data and causes the first robot to perform a first task on a first member. The first posture data is generated based on second posture data. The second posture data is of a posture when a second robot that includes a second manipulator and a second end effector performs a second task on the first member.