In one embodiment, a method includes determining objects and actions associated with the objects for completing a task to be executed by a robotic system, wherein each action is associated with trajectory, determining a pose for each person in an environment associated with the robotic system, predicting a trajectory for each person based on the determined pose associated with the respective person and the actions and trajectories associated with the actions, and adjusting trajectories for one or more of the actions to be performed by the robotic system based on the predicted trajectories for each person.

An operator defines a process, such as a process for the manufacturing of a product, using templates that may be edited graphically. Each process includes a set of steps that a user must perform in order to accomplish the process. Each step in the process may be associated with one or more pieces of machinery on the floor to achieve the execution of the process, either in advance or at execution time. Each step may also provide various forms of instruction, monitoring, and feedback to aid the user of the associated machinery in performing the process. Data may be collected regarding the user's performance, analyzed, and used to inform the operator who may in turn edit the process with the goal of improving its execution.

Methods, systems, and apparatuses relating to augmented-reality interfaces. Features of the present invention rely on robust touch detection methods, touch detection methods, calibration methods, and integrated projector and sensor apparatuses.

Methods and systems for facilitating manufacturing and, in particular, methods and systems that run at least one driver on at least one containerized processing unit to provide communication with at least one piece of machinery. By interfacing with existing machinery and running the driver(s) on a containerized processing unit, an operator is able to modify at least one operational parameter related to the at least one piece of machinery without risk of affecting the stability of other parts of the system.

Methods, systems, and apparatuses relating to augmented-reality interfaces. Features of the present invention rely on robust touch detection methods, touch detection methods, calibration methods, and integrated projector and sensor apparatuses.

Methods and systems for monitoring tool device usage and, in particular, methods and systems including at least one sensor mechanism configured to detect at least one operational parameter of the tool device. Information regarding usage of the tool device may be communicated to a processing unit and further communicated to a network-connected storage and/or to a display device.

An operator defines a process, such as a process for the manufacturing of a product, using templates that may be edited graphically. Each process includes a set of steps that a user must perform in order to accomplish the process. Each step in the process may be associated with one or more pieces of machinery on the floor to achieve the execution of the process, either in advance or at execution time. Each step may also provide various forms of instruction, monitoring, and feedback to aid the user of the associated machinery in performing the process. Data may be collected regarding the user's performance, analyzed, and used to inform the operator who may in turn edit the process with the goal of improving its execution.

A method and system for motion planning for robots with a redundant degree of freedom. The technique computes a collision avoidance motion plan for a robot with a redundant degree of freedom, without artificially constraining the extra degree of freedom. The motion planning is formulated as a quadratic programming optimization calculation having a multi-component objective function and a collision avoidance constraint function. The formulation is efficient enough to compute the motion plan in real time at every robot control cycle. The collision avoidance constraint ensures clearance of all parts of the robot from both static and dynamic obstacles. Objective function terms include minimizing path deviation, joint velocity regularization and robot configuration or pose regularization. Weighting factors on the terms of the objective function are changeable for each control cycle calculation based on obstacle proximity conditions at the time.

A method of controlling a robot manipulator for operating in a shared workspace with human(s) is provided. The method includes: determining a safety control set with respect to a safety condition between selected part(s) of the robot manipulator and selected part(s) of the human(s) using a safety control function: determining a hard constraint control set with respect to hard constraint(s) in trajectory tracking in DOF(s) of a component of the robot manipulator for a task using a hard constraint function: determining a soft constraint control set with respect to soft constraint(s) in trajectory tracking in DOF(s) of the component for the task using a soft constraint function: and performing control input optimization based on the safety control set. the hard constraint control set and the soft constraint control set to determine a control input for controlling the robot manipulator. In particular, the safety control function is configured to determine the safety control set: based on a control model for the robot manipulator that is configured in a control affine form based on a control mode of the robot manipulator, and for each part pair of part pair(s) of a selected part of the selected part(s) of the robot manipulator and a selected part of the selected part(s) of the human(s): based on a safety distance function associated with the part pair which corresponds to a control barrier function, and based on a sliding manifold associated with the part pair configured based on the safety distance function and a relative degree of the safety distance function with respect to the control input to the robot manipulator.