The information processing device 1A mainly includes a logical formula conversion unit 322A, a constraint condition information acquisition unit 323A, and a constraint condition addition unit 324A. The logical formula conversion unit 322A is configured to convert an objective task, which is a task to be performed by a robot, into a logical formula that is based on a temporal logic. The constraint condition information acquisition unit 323A is configured to acquire constraint condition information I2 indicative of a constraint condition to be satisfied in performing the objective task. The constraint condition addition unit 324A is configured to generate a target logical formula Ltag that is a logical formula obtained by adding a proposition indicative of the constraint condition to the logical formula generated by the logical formula conversion unit 322A.

A control device 1A mainly includes an operation sequence generation means 17A. The operation sequence generation means 17A is configured to generate, based on recognition results Ra relating to types and states of objects present in a workspace where a robot which performs a task and another working body perform cooperative work, an operation sequence Sa to be executed by the robot.

A processor-based system provides a user interface to facilitate generation of motion planning graphs or roadmaps, for example via autonomous generate of additional poses, for example neighboring poses, based on specified seed or origin pose, and/or generate or sub-lattice connecting poses and/or edges to couple separate regions or sub-lattices of the motion planning graph together. Such may include performing collision-checking and/or kinematic checking (e.g., taking into account kinematic constraints of robots being modeled). The resulting motion planning graphs or roadmaps are useful in controlling robots during runtime. Robots may include robots with appendages and/or robots in the form of autonomous vehicles.

Provided is a robot system including: a robot including a hand; a unit job storage section configured to store a unit job; a linking job generation section configured to generate a linking job being a command to move the hand from an end position at which a first unit job has ended to a start position at which a second unit job to be executed subsequently after the first unit job is started; an action command generation section configured to generate an action command for the robot by connecting the unit jobs and the linking job in series, based on arrangement of a plurality of processing symbols; and a required time calculation section configured to calculate a required time of the action command by adding required times of the unit jobs and a required time of the linking job.

A programming support apparatus includes: a storage device configured to store work jobs each of which defines operation pattern of a robot; and circuitry configured to: set an environmental condition of the robot at one or more execution timings associated with the work jobs in accordance with user input; select a plurality of the work jobs in accordance with the user input; and check whether at least one work job of the plurality of work jobs satisfies the environmental condition of the robot at an execution timing of the one work job based on an execution flow of the plurality of work jobs.

The information processing device 1B mainly includes an abstract model information acquisition unit 34X, a measurement information acquisition unit 34Y, and an abstract model generation unit 34Z. The abstract model information acquisition unit 34X is configured to acquire abstract model information I5 regarding an abstract model in which dynamics in a workspace 6 where a robot 5 performs an objective task is abstracted. The measurement information acquisition unit 34Y is configured to acquire measurement information Im indicating a measurement result in the workspace 6. The abstract model generation unit 34Z is configured to generate an abstract model Σ based on the abstract model information I5 and the measurement information Im.

Provided is a robot system including: a robot including a hand; a unit job storage section configured to store a unit job; a linking job generation section configured to generate a linking job being a command to move the hand from an end position at which a first unit job has ended to a start position at which a second unit job to be executed subsequently after the first unit job is started; an action command generation section configured to generate an action command for the robot by connecting the unit jobs and the linking job in series, based on arrangement of a plurality of processing symbols; and a required time calculation section configured to calculate a required time of the action command by adding required times of the unit jobs and a required time of the linking job.

A programming support apparatus includes: a storage device configured to store work jobs each of which defines operation pattern of a robot; and circuitry configured to: set an environmental condition of the robot at one or more execution timings associated with the work jobs in accordance with user input; select a plurality of the work jobs in accordance with the user input; and check whether at least one work job of the plurality of work jobs satisfies the environmental condition of the robot at an execution timing of the one work job based on an execution flow of the plurality of work jobs.

A method is provided that includes: receiving designation of one or more operation sections; generating a plurality of path candidates of a robot for a target operation section of the one or more operation sections; displaying the plurality of path candidates on a user interface; receiving a selection of one of the plurality of path candidates; and deciding the selected path candidate as the operation path of the target operation section.

Provided is a robot system including: a robot including a hand; a unit job storage section configured to store a unit job; a linking job generation section configured to generate a linking job being a command to move the hand from an end position at which a first unit job has ended to a start position at which a second unit job to be executed subsequently after the first unit job is started; an action command generation section configured to generate an action command for the robot by connecting the unit jobs and the linking job in series, based on arrangement of a plurality of processing symbols; and a required time calculation section configured to calculate a required time of the action command by adding required times of the unit jobs and a required time of the linking job.