Systems and methods for collision detection and avoidance are provided. In one aspect, a robotic medical system including a first set of links, a second set of links, a console configured to receive input commanding motion of the first set of links and the second set of links, a processor, and at least one computer-readable memory in communication with the processor. The processor is configured to access the model of the first set of links and the second set of links, control movement of the first set of links and the second set of links based on the input received by the console, determine a distance between the first set of links and the second set of links based on the model, and prevent a collision between the first set of links and the second set of links based on the determined distance.

A method of planning a swing trajectory for a leg of a robot includes receiving an initial position of a leg of the robot, an initial velocity of the leg, a touchdown location, and a touchdown target time. The method also includes determining a difference between the initial position and the touchdown location and separating the difference between the initial position and the touchdown location into a horizontal motion component and a vertical motion component. The method also includes selecting a horizontal motion policy and a vertical motion policy to satisfy the motion components. Each policy produces a respective trajectory as a function of the initial position, the initial velocity, the touchdown location, and the touchdown target time. The method also includes executing the selected policies to swing the leg of the robot from the initial position to the touchdown location at the touchdown target time.

A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera configured to capture an image of a camera field of view. The system further comprises an input device, a display, and a processor. The processor is configured to display a first synthetic image including a first synthetic image of the tool. The first synthetic image of the tool includes a portion of the tool outside of the camera field of view. The processor is also configured to receive a user input at the input device and responsive to the user input, change the display of the first synthetic image to a display of a second synthetic image including a second synthetic image of the tool that is different from the first synthetic image of the tool.

This self-interference determination device is provided with a link shape correction unit that corrects link shapes on the basis of a specified distance between link shapes at which links of a robot comprising a plurality of links are regarded as having undergone self-interference, and a shape interference determination unit that determines the presence or absence of self-interference on the basis of the link shapes.

A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.

A method of planning a swing trajectory for a leg of a robot includes receiving an initial position of a leg of the robot, an initial velocity of the leg, a touchdown location, and a touchdown target time. The method also includes determining a difference between the initial position and the touchdown location and separating the difference between the initial position and the touchdown location into a horizontal motion component and a vertical motion component. The method also includes selecting a horizontal motion policy and a vertical motion policy to satisfy the motion components. Each policy produces a respective trajectory as a function of the initial position, the initial velocity, the touchdown location, and the touchdown target time. The method also includes executing the selected policies to swing the leg of the robot from the initial position to the touchdown location at the touchdown target time.

A control device includes a processor which, when an accessory is fitted onto an apparatus, controls a driver such that the accessory interferes with operation of a movable part of the apparatus, acquires data indicating a position of the movable part at which the accessory interferes with the operation of the movable part, and controls the driver such that the movable part is driven within a movable range which is set based on the acquired data indicating the position of the movable part.

A robot control device that controls a robot including an A arm that is rotatable about an A rotation axis, a B arm that is provided so as to be rotatable around a B rotation axis with respect to the A arm and allowed to be brought into a first state overlapping with the A arm when viewed from an axial direction of the B rotation axis, a C arm that is provided so as to be rotatable around a C rotation axis which is an axial direction intersecting with an axial direction of the B rotation axis with respect to the B arm, the robot control device comprising: a processor, wherein the processor is configured to suppress interference between an object and the B arm by limiting a rotation range of the C arm in a case where the object is attached to the C arm.

Embodiments of robotic systems are disclosed. In one embodiment, a robotic system includes a tool used in a manufacture process on a workpiece, and an arm having an attachment point. The arm moves the tool, in multiple degrees of freedom during the manufacture process. A robot controller controls movement of the arm based on motion parameters to perform the manufacture process via the tool. A path planner component generates the motion parameters used to perform the manufacture process while avoiding robot collision conflicts. The path planner component includes a reach configuration component including data related to physical attributes, motion attributes, kinematics, and limitations of the robotic system. The path planner component also includes a collision avoidance evaluator to, using the reach configuration component, determine if an anticipated robot path results in any robot collision conflicts.