Specialized robot motion planning hardware and methods of making and using same are provided. A robot-specific hardware can be designed using a tool that receives a robot description comprising a collision geometry of a robot, degrees of freedom for each joint of the robot, and joint limits of the robot; receives a scenario description; generates a probabilistic roadmap (PRM) using the robot description and the scenario description; and for each edge of PRM, produces a collision detection unit comprising a circuit indicating all parts of obstacles that collide with that edge. The hardware is implemented as parallel collision detection units that provide collision detection results used to remove edges from the PRM that is searched to find a path to a goal position.

A robot system includes a robot configured to operate in cooperation with a person, a specifying section configured to specify a person present in a region at a predetermined distance from the robot, and a control section configured to decelerate or stop the operation of the robot when the presence of the person in the region is specified by the specifying section. The control section changes the distance based on a result of specifying the person by the specifying section.

A robot programming system according to an aspect of the present disclosure includes: a robot program storage section; a press program storage section; a template program setting section that causes the robot program storage section to store, as an initial version of a robot program, a template program that instructs a robot how to move basically; a model placing section that places three-dimensional models of a workpiece, the robot, and a press machine in a virtual space; a robot movement processing section that causes the three-dimensional model of the robot to move; a press movement processing section that causes the three-dimensional model of the press machine to move; an interference detection section that detects interference between the three-dimensional models; and a robot program modification section that modifies a robot program stored in the robot program storage section to prevent interference detected by the interference detection section.

A functional safety system performs safety analysis on three-dimensional point cloud data measured by a time-of-flight (TOF) sensor that monitors a hazardous industrial area that includes an automation system. To reduce the amount of point cloud data to be analyzed for hazardous conditions, the safety system executes a real-time emulation of the automation system using a digital twin and live controller data read from an industrial controller that monitors and controls the automation system. The safety system generates simulated, or shadow, point cloud data based on the emulation and subtracts this simulate point cloud data from the measured point cloud data received from the TOF sensor. This removes portions of the point cloud data corresponding to known or expected elements within the monitored area. Any remaining entities detected in the reduced point cloud data can be further analyzed for safety concerns.

A method of evaluating safety of a robot includes a step of obtaining a three-dimensional image or three-dimensional model of a test robot comprising shape information of a real robot, a step of setting a movement time and movement path of the test robot by inputting profile information comprising movement time information and movement path information of the test robot, a step of calculating a collision pressure and collision force applied to a collision object in consideration of a shape, effective mass, movement speed, and direction of an injury-causing dangerous portion of the test robot, and a step of evaluating safety of the robot by determining whether magnitudes of the calculated collision pressure and collision force fall within magnitudes of a predetermined maximum collision pressure and predetermined maximum collision force.

A system and a method predict a collision free posture of a kinematic system. The method includes: receiving a 3D virtual environment, receiving a 3D representation of the kinematic system and a set of 3D postures defined for the 3D virtual kinematic system, receiving a target task to be performed by the kinematic system with respect to the surrounding environment, and receiving a prescribed location within the 3D virtual environment. The prescribed location defines a position at which the 3D virtual kinematic system has to be placed within the 3D virtual environment. A collision free detection function (CFD) is applied to a set of input data containing the 3D virtual environment, the target task, the prescribed location and the set of postures. The CFD function outputs a set of collision free postures enabling the kinematic system to perform the target task when located at the prescribed location.

A dual-arm robot assembling system including a controlling unit, a GUI, a first robotic-arm, and a second robotic-arm is disclosed. The GUI provides a graphic program editing page, which provides multiple instruction blocks used for editing a graphical program executed by the assembling system. At least one of the first robotic arm and the second robotic arm is disposed with a point-teaching tool thereon. Before the controlling unit controls the two robotic arms to perform an assembling operation based on the graphical program, a manager may directly drag the two robotic arms through the point-teaching tool, so as to implement a point-teaching procedure for the two robotic arms. Therefore, the assembling system may accomplish the assembling operation through the two robotic arms with cooperative movement.

A teaching device constructs, in a virtual space, a virtual robot system in which a virtual 3D model of a robot and a virtual 3D model of a peripheral structure of the robot are arranged, and teaches a moving path of the robot. The teaching device includes an acquisition unit configured to acquire information about a geometric error between the virtual 3D models, and a correction unit configured to correct the moving path of the robot in accordance with the information acquired by the acquisition unit.

An offline teaching device for reducing an amount of time required to generate a motion route with which interference could be avoided, the offline teaching device including at least one processor. The processor generates, as a result of a motion program that includes a plurality of teaching points being input, numerous interpolation points on a motion route of a tool distal-end point of a robot, the motion route being formed among the teaching points in accordance with the motion program; and detects whether interference occurs between each of the generated interpolation points and a peripheral device.

A route is generated for a robot with multiple parts connected rotatably. Multiple waypoints indicating a posture of the robot are registered. It is determined whether a registration waypoint is allowable as the posture of the robot. The route is generated to connect an added waypoint and an existing waypoint. It is determined whether the route satisfies the condition that the robot is operable. The adding of the waypoint and the generating of the route are repeated until the route reaches the end point. Determination results of the registration waypoint and the generated route and the condition determined not to be satisfied are displayed.