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.

The present invention features a computer-implemented method of planning a processing path relative to a three-dimensional workpiece for a plasma arc cutting system coupled to a robotic arm. The method includes receiving input data from a user comprising (i) Computer-Aided Design (CAD) data for specifying a desired part to be processed from the three-dimensional workpiece, and (ii) one or more desired parameters for operating the plasma arc cutting system. A plurality of features of the desired part to be formed on the three-dimensional workpiece are identified based on the CAD data. The method also includes dynamically filtering a library of cut charts based on the plurality of features and the desired operating parameters to determine a recommended cut chart for processing the plurality of features. The method further includes generating the processing path based on the recommended cut chart and the plurality of features to be formed.

Control systems for industrial machinery (e.g., robots) or other devices such as medical devices utilize a safety processor (SP) designed for integration into safety applications and computational components that are not necessarily safety-rated. The SP monitors performance of the non-safety computational components, including latency checks and verification of identical outputs. One or more sensors send data to the non-safety computational components for sophisticated processing and analysis that the SP cannot not perform, but the results of this processing are sent to the SP, which then generates safety-rated signals to the machinery or device being controlled by the SP. As a result, the system may qualify for a safety rating despite the ability to perform complex operations beyond the scope of safety-rated components.

A system and method of collision avoidance includes determining a position and an orientation, the position and the orientation being of a repositionable arm or of an instrument, the repositionable arm being configured to support the instrument; determining, based on the position and the orientation, a plurality of first virtual boundaries around the repositionable arm or the instrument; determining a second virtual boundary around an object; determining a first overlap force on the repositionable arm due to a first overlap between the second virtual boundary and a virtual boundary of the plurality of first virtual boundaries; determining a tip force on a distal end of the instrument based on the first overlap force; and applying the tip force as a first feedback force on the instrument or the repositionable arm.

Control systems for industrial machinery (e.g., robots) or other devices such as medical devices utilize a safety processor (SP) designed for integration into safety applications and computational components that are not necessarily safety-rated. The SP monitors performance of the non-safety computational components, including latency checks and verification of identical outputs. One or more sensors send data to the non-safety computational components for sophisticated processing and analysis that the SP cannot not perform, but the results of this processing are sent to the SP, which then generates safety-rated signals to the machinery or device being controlled by the SP. As a result, the system may qualify for a safety rating despite the ability to perform complex operations beyond the scope of safety-rated components.

Disclosed are a collision avoidance method for a moving device, a collision avoidance apparatus for a moving device, and a computer-readable storage medium. This application relates to the field of artificial intelligence technologies. According to the method, a parking direction of a moving device in an avoidance area is adjusted, so that a startup time used by the moving device after avoidance completes may be reduced. The method includes: determining a target path direction of a moving device; determining a first candidate parking direction and a second candidate parking direction; determining, based on the target path direction, a target parking direction of the moving device from the first candidate parking direction and the second candidate parking direction; and controlling, based on the target parking direction, the moving device to be parked in the avoidance area.

The present disclosure provides a method, devices, a numerical control machine, and a computer storage medium for detecting machine processing trajectory space. The method includes: obtaining data of a trajectory AB of a machine processing and spatial data of a specified space area; converting a function of the data of the trajectory AB into a univariate function P=f (u) with respect to a trajectory parameter u; determining a point set U.sub.i of the trajectory AB on an inner side of each curved surface S.sub.i based on spatial data of the individual curved surfaces S.sub.i forming the specified space area and the function P=f (u); and determining a positional relationship between the trajectory AB and the specified space area based on the point sets U.sub.i.

According to one embodiment, a monitor apparatus includes a memory and processing circuitry. The processing circuitry acquires first information indicating a position and a moving direction of a target, acquires second information indicating a position of each of moving objects and sensors which are provided in the moving objects, selects at least one of a first moving object for monitoring the target from among the moving objects or a first sensor for monitoring the target from among the sensors, based on the first information and the second information, and transmits third information indicating the target and at least one of the first moving object or the first sensor.

Technologies are generally described for sensor-based safety features for robotic equipment, and the implementation thereof. One or more sensors may be positioned relative to the robotic equipment such that the sensors may capture light from at least a portion of an environment surrounding the robotic equipment. In some examples, the sensors may be integrated with the robotic equipment and/or may be configured to rotate. An analysis module coupled to the sensors may build a model image of the environment based on the light captured by the sensors. The analysis module may detect that an unintended object is approaching the robotic equipment in response to detecting a change in the model image, and based on a proximity and/or a speed of approach of the object to the robotic equipment, the analysis module may instruct the robotic equipment to reduce an operating speed and/or stop motion of the robotic equipment.

A crash prevention device for a machine tool for preventing the collision of a moving part of the machine tool with other machine tool parts or with a workpiece in a working area of the machine tool includes an isolation mechanism that electrically isolates the moving part from the other machine tool parts or the workpiece. The device includes a detection system with a high voltage generator having a first positive connector electrically connected to the moving part and a negative connector electrically connected to the workpiece or to the other machine tool parts. The high voltage generator generates DC, AC, or pulsating voltage. The detection system includes a discharge detection device that detects an electrical discharge between the moving part and the workpiece or between the moving part and the other machine tool parts, then sends a signal to stop or adapt further relative movement of the moving part.