A trajectory generation device which generates a trajectory of a robot includes: a trajectory exploration graph generation unit which is configured to generate a trajectory exploration graph composed of a plurality of nodes for generating the trajectory; an acceleration upper limit value acquisition unit which is configured to acquire a first acceleration upper limit value based on orientations and an acceleration direction of the robot at a current node; a velocity and acceleration setting unit which is configured to set a first velocity representing a velocity when moving from the current node to a next node adjacent to the current node based on the acquired first acceleration upper limit value, and an acceleration; and a node cost calculation unit which is configured to calculate a moving time by using the set first velocity and the acceleration as cost from the current node to the next node.

A control device for a robot includes a comparing unit and a controller. When the robot equipped with a force sensor capable of detecting force components of a same type in a plurality of directions operates, the comparing unit compares a magnitude of each of the force components detected by the force sensor with a predetermined threshold value for each of the directions. If the comparing unit determines that a magnitude of a force component in any of the directions exceeds the threshold value, the controller controls the robot to avoid an increase in the magnitude of the force component in the direction.

A method of generating a control program for a robot includes generating a trajectory in which a robot arm moves between a plurality of teaching points based on a first constraint condition with respect to a movement time of the robot arm and a second constraint condition with respect to a drive condition for driving the robot arm by a processor, displaying the trajectory generated by the processor and accumulated power consumption when the robot arm moves along the trajectory by a display unit, and, when receiving an instruction to employ the trajectory, generating a control program for the robot based on the trajectory by the processor.

Faster, less computational intense, and more robust techniques to optimize velocity of robots or portions thereof without violating constraints on acceleration and jerk (derivative of acceleration with respect to time) are described. A nonlinear problem of optimizing velocity without violating acceleration constraints is linearized, and produces acceleration constrained velocity estimates. A nonlinear problem of optimizing velocity without violating jerk constraints in linearized, and produces jerk constrained velocity estimates, and may be feed by the acceleration constrained velocity estimates. Configuration and timing may be generated and provided, e.g., as vectors, to control operation of a robot, robotic appendage or other structure.

A robot system includes a SCARA robot including a robot arm to which an end effector is attached and a driving section configured to drive the robot arm and a control device configured to control the driving section based on a control signal. The control device determines whether being in a first case in which a predetermined condition is satisfied or a second case in which the predetermined condition is not satisfied, in the first case, controls the driving section based on the control signal, and, in the second case, determines a frequency component to be removed from the control signal using a band stop filter, removes the frequency component from the control signal using the band stop filter to generate a corrected control signal, and controls the driving section based on the generated corrected control signal.

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.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot along a goal path. An initial Cartesian path is generated based on a goal path on a workpiece. Dynamic properties of the robot while the robot traverses an initial joint-space trajectory having an initial velocity profile are obtained. An adjusted velocity profile over the Cartesian path is generated based on the obtained dynamic properties. A trajectory is generated by combining the initial Cartesian path and the adjusted velocity profile.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot along a goal path. An initial Cartesian path is generated based on a goal path on a workpiece. Dynamic properties of the robot while the robot traverses an initial joint-space trajectory having an initial velocity profile are obtained. An adjusted velocity profile over the Cartesian path is generated based on the obtained dynamic properties. A trajectory is generated by combining the initial Cartesian path and the adjusted velocity profile.

A brake piloting system including a robotic device having at least one movable element, at least one brake which, when activated from an open configuration to an activated configuration, enables a deceleration or immobilization of the at least one movable element, at least one position sensor aimed at measuring a real time position of the at least one movable element and at least one the microcontroller being configured to activate in real time the at least one brake into a determined configuration.

A substrate transfer robot includes a robot body including a first hand having a first substrate placing part on which a substrate is placed and a first substrate holding mechanism configured to hold and release the substrate, and a robot controller. The robot controller controls a speed of the first hand such that an absolute value of a first maximum speed or an absolute value of a first maximum acceleration during a first period after the first hand starts retreating until the substrate is held by the first substrate holding mechanism is lower than an absolute value of a second maximum speed or an absolute value of a second acceleration during a second period after the substrate is held until the first hand ends retreating.