Disclosed herein are systems, devices, and methods for real-time determinations of likelihoods for possible trajectories of a collaborator in a workspace with a robot. The system determines a current kinematic state of the collaborator and determines a goal of the collaborator based on occupancy information about objects in the workspace. The system also determines a possible trajectory for the collaborator based on the goal and the current kinematic state and determines a short-horizon trajectory for the collaborator based on previously observed kinematic states of the collaborator towards the goal. The system also determines a likelihood that the collaborator will follow the possible trajectory based on the short-horizon trajectory, the goal, and the current kinematic state. The system also generates a movement instruction to control movement of the robot based on the likelihood that the collaborator will follow the possible trajectory.

According to some embodiments, a method includes: receiving an endpoint impedance matrix representing a desired stiffness or damping at the robot endpoint; reflecting the endpoint impedance matrix to an equivalent joint-space matrix associated with one or more of the robot joints, the equivalent joint-space matrix having a nullspace corresponding to near-zero-valued eigenvalues; generating a nullspace-filled impedance matrix from the equivalent joint-space matrix based in part on replacing the near-zero-valued eigenvalues with selected finite positive real values; generating a robot control law using the nullspace-filled impedance matrix; and using the robot control law to control the robot.

A controller for robot arms and the like having mechanical singularities identities paths near the singularities and modifies those paths to avoid excessive joint movement according to a minimization of tool orientation deviation to produce alternative paths that minimize changes in the tool orientation such as can affect application such as welding, sealant application, coating and the like.

A system includes: a first module configured to, based on a set of target robot joint angles, generate a first estimated end effector pose and a first estimated latent variable that is a first intermediate variable between the set of target robot joint angles and the first estimated end effector pose; a second module configured to determine a set of estimated robot joint angles based on the first estimated latent variable and a target end effector pose; a third module configured to determine joint probabilities for the robot based on the first estimated latent variable and the target end effector pose; and a fourth module configured to, based on the set of estimated robot joint angles, determine a second estimated end effector pose and a second estimated latent variable that is a second intermediate variable between the set of estimated robot joint angles and the second estimated end effector pose.

A robot controller (2) configured to control a robot (1) including a plurality of joints (J.sub.1-J.sub.6) each rotatable around a rotation axis, the robot controller (2) including: an acquisition unit (21) configured to acquire a rotation angle of each of the plurality of joints (J.sub.1-J.sub.6); a determination unit (22) configured to determine whether or not the robot (1) has been in proximity to a singular configuration, based on the rotation angle of each of the plurality of joints (J.sub.1-J.sub.6); and a control unit (23) configured to control the plurality of joints (J.sub.1-J.sub.6) to be rotated not to rotate simultaneously, when the determination unit (22) determines that the robot (1) has been in proximity to the singular configuration.

A robot apparatus 1 includes: a multi-articulated robot 2; and a controller 3 that drive-controls the multi-articulated robot 2 based on an input motion command. The controller 3 includes: a joint angle computing unit 32 that computes each joint angle command for driving the multi-articulated robot 2 based on the motion command; a servo controlling apparatus 30 that moves the multi-articulated robot 2 by rotationally driving each rotational joint based on the joint angle command computed by the joint angle computing unit 32; a singular point calculating unit 51 that calculates a distance between the multi-articulated robot 2 and a singular point of the multi-articulated robot 2; and a maximum joint angle deviation adjusting unit 52 that limits a maximum rotation speed of a rotational joint specified in advance based on a singular point type, if the singular point distance becomes smaller than a predetermined value.

A control system includes: a controller configured to operate one or more robots in a real space based on an operation program; and circuitry configured to: operate one or more virtual robots based on the operation program in a virtual space, the one or more virtual robots corresponding to the one or more robots respectively; cause the controller to suspend an operation based on the operation program by the one or more robots; simulate a suspended state of the real space after suspension of the operation by the one or more robots, in the virtual space; and resume at least a part of the operation by the one or more virtual robots based on the operation program, in the virtual space in which the suspended state of the real space has been simulated.

A control apparatus includes an operation unit that teaches the robot a position, a posture changing instruction unit that instructs a position change when the robot passes through a singularity or its vicinity, a singularity passing motion request unit that instructs the robot to change its posture, a robot drive information request unit that acquires robot drive information, and a robot G-code generation unit that inserts a G-code from the robot drive information into a program. A robot includes a drive control unit that drives the robot, a singularity determination unit that determines passage through the singularity or its vicinity, a singularity passing pattern generation unit that generates a motion plan for passage through the singularity or its vicinity based on the changed posture, and a robot drive information output unit that transmits the robot drive information to the control apparatus.

Techniques are disclosed for controlling robots based on generated robot simulations. A robot simulation application is configured to receive a robot definition specifying the geometry of a robot, a list of points defining a toolpath that a head of the robot follows during an operation, and a number of simulations of the robot performing the operation. The simulation application then performs the number of simulations, displays results of those simulations, and generates code for controlling a physical robot based on a user selection of one of those simulations. During each simulation, if a robotic problem, such as an axis limit or a singularity problem, is encountered, then the simulation application attempts to resolve the problem by rotating the robot head in both directions about a tool axis and determining a smallest angle of rotation in either direction that resolves the robotic problem, if any.

A robotic system comprising: a robot having a base and an arm extending from the base to an attachment for an instrument, the arm comprising n joints, where n>1, whereby the configuration of the arm can be altered, the arm having a plurality of configurations for a given relationship between the base and the attachment for the instrument, the robot comprising a driver for each joint configured to drive the joint to move and a joint sensor for each joint for sensing a state of the joint; and a control unit configured to: obtain a desired position of the attachment for the instrument; for each of k joints where k<n, obtain a sensed joint state; compare the obtained k sensed joint states to a set of constraint criteria, the set of constraint criteria being indicative of the arm moving from a first configuration towards a second configuration, where movement of the arm is more constrained in the second configuration than in the first configuration; where the obtained k sensed joint states match the set of constraint criteria, determine a magnitude of an adjustment signal configured to slow, halt or reverse movement of the arm towards the second configuration; using the desired position of the attachment for the instrument and the obtained k sensed joint states, determine a direction of the adjustment signal; for each of the n joints, obtain a sensed joint state; using the desired position of the attachment for the instrument, the obtained n sensed joint states and the adjustment signal, determine a set of control signals for controlling the drivers; and drive the joints using the set of control signals.