A method and system for robotic motion planning which perform dynamic velocity attenuation to avoid robot collision with static or dynamic objects. The technique maintains the planned robot tool path even when speed reduction is necessary, by providing feedback of a computed slowdown ratio to a tracking controller so that the path computation is always synchronized with current robot speed. The technique uses both robot-obstacle distance and relative velocity to determine when to apply velocity attenuation, and computes a joint speed limit vector based on a robot-obstacle distance, a maximum obstacle speed, and a computed stopping time as a function of the joint speed. Two different control structure implementations are disclosed, both of which provide feedback of the slowdown ratio to the motion planner as needed for faithful path following. A method of establishing velocity attenuation priority in multi-robot systems is also provided.

A numerical controller capable of setting the execution order among the commands of an NC program executes at least one NC program to control a plurality of paths. The NC program includes an order setting command by which the execution order can be set among commands for controlling each of the plurality of paths. The numerical controller includes at least one command analysis unit that reads and interprets a command included in the NC program, and when execution order of the command is set by the order setting command, outputs command data to which the execution order is added, and at least one command executor that executes command processing of each path in accordance with the execution order based on the command data that is output by the command analysis unit and to which the execution order is added.

[Object] To provide an information processing apparatus, an information processing method, and a program that enable the user to recognize in advance how the created robot moves for each application.

[Solution] The information processing apparatus includes a control unit that generates robot display information for displaying information related to a robot to be created by assembly of a plurality of parts, selects a plurality of programs installable on the robot, generates motion display information for displaying information related to motion of the robot in a case of installation of the plurality of programs on the robot, and performs control such that the motion display information is output.

A numerical controller capable of setting the execution order among the commands of an NC program executes at least one NC program to control a plurality of paths. The NC program includes an order setting command by which the execution order can be set among commands for controlling each of the plurality of paths. The numerical controller includes at least one command analysis unit that reads and interprets a command included in the NC program, and when execution order of the command is set by the order setting command, outputs command data to which the execution order is added, and at least one command executor that executes command processing of each path in accordance with the execution order based on the command data that is output by the command analysis unit and to which the execution order is added.

A method and system for robotic motion planning which perform dynamic velocity attenuation to avoid robot collision with static or dynamic objects. The technique maintains the planned robot tool path even when speed reduction is necessary, by providing feedback of a computed slowdown ratio to a tracking controller so that the path computation is always synchronized with current robot speed. The technique uses both robot-obstacle distance and relative velocity to determine when to apply velocity attenuation, and computes a joint speed limit vector based on a robot-obstacle distance, a maximum obstacle speed, and a computed stopping time as a function of the joint speed. Two different control structure implementations are disclosed, both of which provide feedback of the slowdown ratio to the motion planner as needed for faithful path following. A method of establishing velocity attenuation priority in multi-robot systems is also provided.

An automation and motion control system and method to control a plurality of theatrical objects. The method includes providing a plurality of axis nodes and an operator console node in communication with each other over a real time network. A first motion path is defined for the theatrical object. One or more object movement parameters are provided to a sunstone tool. An adjusted second motion path for the theatrical object is defined with the sunstone tool in response to the one or more object movement parameters and the first motion path. A live motion path is selected, and motion is provided to the devices with the control instructions corresponding to the live motion path to move the theatrical object along the live motion path.