Methods, systems, and apparatus, including computer-readable storage devices, for robot navigation using 2D and 3D path planning. In the disclosed method, a robot accesses map data indicating two-dimensional layout of objects in a space and evaluates candidate paths for the robot to traverse. In response to determining that the candidate paths do not include a collision-free path across the space for a two-dimensional profile of the robot, the robot evaluates a three-dimensional shape of the robot with respect to a three-dimensional shape of an object in the space. Based on the evaluation of the three-dimensional shapes, the robot determines a collision-free path to traverse through the space.

Methods, systems, and apparatus, including computer-readable storage devices, for robot navigation using 2D and 3D path planning. In the disclosed method, a robot accesses map data indicating two-dimensional layout of objects in a space and evaluates candidate paths for the robot to traverse. In response to determining that the candidate paths do not include a collision-free path across the space for a two-dimensional profile of the robot, the robot evaluates a three-dimensional shape of the robot with respect to a three-dimensional shape of an object in the space. Based on the evaluation of the three-dimensional shapes, the robot determines a collision-free path to traverse through the space.

A method and system for robotic motion planning which perform dynamic velocity attenuation to avoid robot collision with static or dynamic objects. The technique maintains the planned robot tool path even when speed reduction is necessary, by providing feedback of a computed slowdown ratio to a tracking controller so that the path computation is always synchronized with current robot speed. The technique uses both robot-obstacle distance and relative velocity to determine when to apply velocity attenuation, and computes a joint speed limit vector based on a robot-obstacle distance, a maximum obstacle speed, and a computed stopping time as a function of the joint speed. Two different control structure implementations are disclosed, both of which provide feedback of the slowdown ratio to the motion planner as needed for faithful path following. A method of establishing velocity attenuation priority in multi-robot systems is also provided.

A method and system for dynamic collision avoidance motion planning for industrial robots. An obstacle avoidance motion optimization routine receives a planned path and obstacle detection data as inputs, and computes a commanded robot path which avoids any detected obstacles. Robot joint motions to follow the tool center point path are used by a robot controller to command robot motion. The planning and optimization calculations are performed in a feedback loop which is decoupled from the controller feedback loop which computes robot commands based on actual robot position. The two feedback loops perform planning, command and control calculations in real time, including responding to dynamic obstacles which may be present in the robot workspace. The optimization calculations include a safety function which efficiently incorporates both relative position and relative velocity of the obstacles with respect to the robot.

A layout generation device includes: a waypoint registration unit, an arrangement generation unit, an arrangement evaluation unit, an arrangement extraction unit, a path determination unit, a path generation unit, an arrangement exclusion unit, and an arrangement evaluation update unit. The arrangement evaluation unit evaluates, as an evaluation value, an operation time of a robot without considering an obstacle for each of arrangements. The arrangement extraction unit extracts an arrangement having a best evaluation value from among the evaluated arrangements by the arrangement evaluation unit. The path determination unit determines whether or not an extracted arrangement extracted by the arrangement extraction unit needs to avoid an obstacle in terms of an operation of the robot via a waypoint.

A motion trajectory planning method for a robotic manipulator having a visual inspection system, includes: in response to a command instruction, obtaining environmental data collected by the visual inspection system; determining an initial DS model motion trajectory of the robotic manipulator according to the command instruction, the environmental data, and a preset teaching motion DS model library, wherein the teaching motion DS model library includes at least one DS model motion trajectory generated based on human teaching activities; and at least based on a result of determining whether there is an obstacle, whose pose is on the initial DS model motion trajectory, in a first object included in the environmental data, correcting the initial DS model motion trajectory to obtain a desired motion trajectory of the robotic manipulator.

This robot device comprises a robot including a plurality of constituent members, and a control device. The control device stores three-dimensional shape data of the constituent members of the robot. A setting unit of the control device sets some of the constituent members to determine interference in accordance with an operation state of the robot. A determination unit of the control device determines, on the basis of the three-dimensional shape data of the constituent members set by the setting unit, whether the constituent members of the robot interfere with a container storing a workpiece.

Apparatuses, systems, and techniques for determining whether collisions will occur in potential paths of an object within a scene. In at least one embodiment, one or more neural networks determine whether collisions will occur in potential paths of an object within a scene based at least in part on point cloud data of the object and the scene.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for planning a path of motion for a robot. In some implementations, a candidate path of movement is determined for each of multiple robots. A swept region, for each of the multiple robots, is determined that the robot would traverse through along its candidate path. At least some of the swept regions for the multiple robots is aggregated to determine amounts of overlap among the swept regions at different locations. Force vectors directed outward from the swept regions are assigned, wherein the force vectors have different magnitudes assigned according to the respective amounts of overlap of the swept regions at the different locations. A path for a particular robot to travel is determined based on the swept regions and the assigned magnitudes of the forces.

A control device connected to a robot arm with a plurality of joints acquires system information indicating at least a posture state of the robot arm or a drive state of the robot arm. Also, the control device acquires control target information indicating a control target of the robot arm. The control device is configured to calculate, on the basis of the system information, contribution information that is an indicator indicating contribution of the joints to drive of the robot arm on the basis of the control target information. Moreover, the control device is configured to calculate control command information to be used to control driving of each of the joints on the basis of the contribution information.