According to other embodiments, a method planning of motions to lift heavy objects using a robot system comprising a robot and an end effector, includes identifying data comprising (a) rigid bodies included in the robot and the end effector, (b) joints connecting the rigid bodies, and (c) torque limits for each of the joints. The torque limit for a joint indicates a maximum supported torque by a drive operating the joint. A motion path searching algorithm is applied to the input data to identify feasible robot paths. The motion path searching algorithm determines torque of each of joint when evaluating points for inclusion in a feasible robot path. An evaluated point is only included in a feasible robot path if the torque of each of the joints do not exceed the torque limits. At least one of the feasible robot paths is transferred to a controller associated with the robot.

A system for robot and human collaboration. The system comprises: a multi-axis robot; one or more torque sensors, each torque sensor being configured to measure a torque about a respective axis of the multi-axis robot; and a controller configured to: receive one or more torque measurements taken by the one or more torque sensors; compare the one or more torque measurements or a function of the one or more torque measurements to a threshold value; and control the multi-axis robot based on the comparison.

A system for robot and human collaboration. The system comprises: a multi-axis robot; one or more torque sensors, each torque sensor being configured to measure a torque about a respective axis of the multi-axis robot; and a controller configured to: receive one or more torque measurements taken by the one or more torque sensors; compare the one or more torque measurements or a function of the one or more torque measurements to a threshold value; and control the multi-axis robot based on the comparison.

According to other embodiments, a method planning of motions to lift heavy objects using a robot system comprising a robot and an end effector, includes identifying data comprising (a) rigid bodies included in the robot and the end effector, (b) joints connecting the rigid bodies, and (c) torque limits for each of the joints. The torque limit for a joint indicates a maximum supported torque by a drive operating the joint. A motion path searching algorithm is applied to the input data to identify feasible robot paths. The motion path searching algorithm determines torque of each of joint when evaluating points for inclusion in a feasible robot path. An evaluated point is only included in a feasible robot path if the torque of each of the joints do not exceed the torque limits. At least one of the feasible robot paths is transferred to a controller associated with the robot.

Methods, apparatus, systems, and computer readable media are provided for generating updated robot actuator trajectories in response to violation of torque constraints and/or other constraints in previously generated robot actuator trajectories. A real-time trajectory generator is used to generate trajectories for actuators of a robot based on a current motion state of the actuators, a target motion state of the actuators, and kinematic motion constraints of the actuators. The generated trajectory of each of the actuators is analyzed to determine whether a violation of at least one additional constraint occurs. In response to determining violation(s) of the additional constraint, one or more new kinematic motion constraints of the actuators are determined based on the violation(s). The real-time trajectory generator generates updated trajectories based on applying the new kinematic motion constraints in lieu of their counterparts used in generating the trajectories that included the violation(s) of the additional constraint.

A robot system of the present invention has a disturbance torque monitoring part which monitors a disturbance torque of a servo motor which drives rotation about a joint of the robot in accordance with an operating command of a robot operation control part. Further, when a work gripped by the hand is fastened by a work fasting device, the abnormality judging part compares the disturbance torque with a predetermined first threshold value and, when the disturbance torque is over the first threshold value, judges that an abnormality has occurred in the position of the work fastened by the work fastening device.

A first robot and at least one further second robot are provided to run through a plurality of positioning ranges during operation. A dynamic behavior and/or a load characteristic value of the robot in at least one first positioning range can be adapted to a dynamic behavior and/or a load characteristic value in at least one second positioning range of the robot and/or a dynamic behavior and/or a load characteristic value of the first robot in at least one first positioning range is adapted to a dynamic behavior and/or a load characteristic value of the second robot in at least one second positioning range.

A control device, computer program and method for determining a path of kinematics for picking up an object from a conveyor system includes providing a kinetic model depending on mass, moment of inertia or inertia tensor of the kinematics, specifying maximum drive forces and/or drive torques of drives, determining limit values for state variables of the path, as a function of the maximum drive forces and/or drive torques based on the kinetic model, the limit values being determined for a plurality of points of a working space, extrapolating a position of a virtual point on the conveyor system based on values of the position and speed and/or acceleration of the virtual point at respective sampling times, and determining setpoints for the path as a function of the determined limit values and the extrapolated position, where the movement path is modelled as a function of the position of the virtual point.