A simulation apparatus acquires a position and an operating speed in each drive axis of the robot at a set point set for each minute section of a motion path of the robot when an operation program of a robot is executed. The simulation apparatus comprises a stop position estimation part that estimates a stop position where the robot is stopped after moving by inertia in each dive axis, based on the position in each drive axis of the robot, the operating speed in each drive axis, and the weight of the work tool, when an emergency stop of the robot is performed at the set point. The simulation apparatus comprises a swept space calculation part that calculates a swept space of three-dimensional models of the robot and the work tool based on the stop position.

The present disclosure relates to robot path planning. Depth information of a plurality of obstacles in an environment of a robot are obtained at a first time instance. A static distance map is generated based on the depth information. A path is computed for the robot based on the static distance map. At a second time instant, depth information of one or more obstacles is obtained. A dynamic distance map is generated based on the one or more obstacles, wherein for each obstacle that satisfies a condition: a vibration range of the obstacle is computed based on a position of the obstacle and the static distance map, and the obstacle is classified as a dynamic obstacle or a static obstacle based on a criterion associated with the vibration range. A repulsive speed of the robot is computed based on the dynamic distance map to avoid the dynamic obstacles.

Operating device for a machining device configured to machine workpieces consisting preferably at least in sections of wood, said operating device comprising: a display device, and a selection device, wherein the operating device is configured such that on the selection device, a user can select machining operations on a workpiece and that, based on the selected machining operations, a 3D model corresponding to the machined workpiece is shown in the display device.

The present disclosure relates to robot path planning. Depth information of a plurality of obstacles in an environment of a robot are obtained at a first time instance. A static distance map is generated based on the depth information. A path is computed for the robot based on the static distance map. At a second time instant, depth information of one or more obstacles is obtained. A dynamic distance map is generated based on the one or more obstacles, wherein for each obstacle that satisfies a condition: a vibration range of the obstacle is computed based on a position of the obstacle and the static distance map, and the obstacle is classified as a dynamic obstacle or a static obstacle based on a criterion associated with the vibration range. A repulsive speed of the robot is computed based on the dynamic distance map to avoid the dynamic obstacles.

An example method includes obtaining, by at least one processor, a plurality of categorised indications of deviations from expected dimensions for at least one object generated using an additive manufacturing apparatus wherein the categories comprise at least two of a first dimension type comprising dimensions which are expected to increase on application of a positive offset to object model data used to generate an object, a second dimension type comprising dimensions which are expected to decrease on application of a positive offset to the object to object model data used to generate an object, and a third dimension type comprising dimensions which are expected to be unaffected by application of an offset to object model data used to generate an object. The method may include determining a geometrical compensation model to apply to object model data for generating objects using additive manufacturing to compensate for anticipated deviations in dimensions.

In an example, a method includes obtaining an indication of a deviation from an expected dimension of at least one dimension of an object generated using an additive manufacturing apparatus. A geometrical compensation model to apply to object model data for generating objects using additive manufacturing to compensate for anticipated deviations in dimensions may be determined from the obtained indication. The geometrical compensation model may comprise a first value to apply to object model data to modify a specification of an external dimension; and a second, different, value to apply to object model data to modify a specification of an internal dimension.

Collision detection useful in motion planning for robotics advantageously represents planned motions of each of a plurality of robots as obstacles when performing motion planning for any given robot in the plurality of robots that operate in a shared workspace, including taking into account the planned motions during collision assessment. Edges of a motion planning graph are assigned cost values, based at least in part on the collision assessment. Obstacles may be pruned as corresponding motions are completed. Motion planning requests may be queued, and some robots skipped, for example in response to an error or blocked condition.

A simulation apparatus acquires a position and an operating speed in each drive axis of the robot at a set point set for each minute section of a motion path of the robot when an operation program of a robot is executed. The simulation apparatus comprises a stop position estimation part that estimates a stop position where the robot is stopped after moving by inertia in each dive axis, based on the position in each drive axis of the robot, the operating speed in each drive axis, and the weight of the work tool, when an emergency stop of the robot is performed at the set point. The simulation apparatus comprises a swept space calculation part that calculates a swept space of three-dimensional models of the robot and the work tool based on the stop position.

A computer-implemented method of geometric modeling to facilitate simulation for manufacturing operations is provided. The method involves causing at least one processor to receive signals representing a workpiece, and derive a workpiece model representation of the workpiece. Deriving the workpiece model involves identifying volumes that each include a surface of the workpiece, generating a plurality of volume elements for inclusion in the workpiece model, each volume element associated with a respective identified volume and representing presence of the surface of the workpiece in the respective identified volume. Deriving also involves determining at least one location on a linear boundary of a volume where the surface of the workpiece intersects the linear boundary, and, in response to the determining, generating at least one boundary surface element associated with the volume element for inclusion in the workpiece model. Other methods, systems, and computer-readable media are also disclosed.

In an example, a method includes obtaining an indication of a deviation from an expected dimension of at least one dimension of an object generated using an additive manufacturing apparatus. A geometrical compensation model to apply to object model data for generating objects using additive manufacturing to compensate for anticipated deviations in dimensions may be determined from the obtained indication. The geometrical compensation model may comprise a first value to apply to object model data to modify a specification of an external dimension; and a second, different, value to apply to object model data to modify a specification of an internal dimension.