The present disclosure relates to a Web server (104, 60, 70) and a method therein of determining a trajectory for controlling of a robot device over a cloud interface. From a URI-encoded HTTP request (402) for the trajectory between a first pose and a second pose of the robot device, it is determined (S112, 408) the length of matching between cached trajectories and the trajectory requested. The longest length of matching is compared (S114, 410) to a minimal matching length (406), and if the longest length is longer than the minimal matching length, a HTTP response is sent (S122, 412) comprising the trajectory being determined. If the longest length is shorter than the minimal matching length, a HTTP request to calculate is sent (S116, 414). Currently available web service architecture can be reused, and easily up-scaled.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling robotic movements. One of the methods includes receiving, for a robot, an initial plan specifying a path and a local trajectory; receiving an updated observation of an environment of the robot; generating an initial modified local trajectory for the robot based on the updated observation in the environment of the robot; repeatedly following the initial modified local trajectory for the robot while generating a modified global path for the robot, comprising: obtaining data representing a workspace footprint for the robot, the workspace footprint defining a volume for a workspace of the robot, and generating the modified global path to avoid causing the robot to cross a boundary of the volume defined by the workspace footprint; and causing the robot to follow the modified global path for the robot.

A method for determining a trajectory of a robot from a starting position to a target position is provided. The starting position and the target position are manually defined by a user in a real environment of the robot. Then a collision-free trajectory of the robot from the starting position to the target position is determined, based on the surroundings of the robot. Also provided is a device, a robot system, a computer program and a machine-readable storage medium.

A control apparatus for controlling operation of a work robot for performing work inside a target region using a manipulator includes a trajectory information acquiring unit for acquiring N−1 or N pieces of trajectory information respectively indicating N−1 or N trajectories connecting N work regions where the work robot performs a series of work operations in order of a series of work operations; a classifying unit for classifying the N−1 or N trajectories as (i) trajectories that need correction or (ii) trajectories that do not need correction; and a trajectory planning unit for planning a trajectory of a tip of the manipulator between two work regions relating to the each of the one or more trajectories, for each of the one or more trajectories classified as a trajectory that needs correction by the classifying unit.

A control apparatus for controlling operation of a work robot for performing work inside a target region using a manipulator includes a trajectory information acquiring unit for acquiring N−1 or N pieces of trajectory information respectively indicating N−1 or N trajectories connecting N work regions where the work robot performs a series of work operations in order of a series of work operations; a classifying unit for classifying the N−1 or N trajectories as (i) trajectories that need correction or (ii) trajectories that do not need correction; and a trajectory planning unit for planning a trajectory of a tip of the manipulator between two work regions relating to the each of the one or more trajectories, for each of the one or more trajectories classified as a trajectory that needs correction by the classifying unit.

The present disclosure relates to a Web server (104, 60, 70) and a method therein of determining a trajectory for controlling of a robot device over a cloud interface. From a URI-encoded HTTP request (402) for the trajectory between a first pose and a second pose of the robot device, it is determined (S112, 408) the length of matching between cached trajectories and the trajectory requested. The longest length of matching is compared (S114, 410) to a minimal matching length (406), and if the longest length is longer than the minimal matching length, a HTTP response is sent (S122, 412) comprising the trajectory being determined. If the longest length is shorter than the minimal matching length, a HTTP request to calculate is sent (S116, 414). Currently available web service architecture can be reused, and easily up-scaled.

A control apparatus for controlling operation of a work robot for performing work inside a target region using a manipulator includes a trajectory information acquiring unit for acquiring N1 or N pieces of trajectory information respectively indicating N1 or N trajectories connecting N work regions where the work robot performs a series of work operations in order of a series of work operations; a classifying unit for classifying the N1 or N trajectories as (i) trajectories that need correction or (ii) trajectories that do not need correction; and a trajectory planning unit for planning a trajectory of a tip of the manipulator between two work regions relating to the each of the one or more trajectories, for each of the one or more trajectories classified as a trajectory that needs correction by the classifying unit.

A control apparatus for controlling operation of a work robot for performing work inside a target region using a manipulator includes a trajectory information acquiring unit for acquiring N?1 or N pieces of trajectory information respectively indicating N?1 or N trajectories connecting N work regions where the work robot performs a series of work operations in order of a series of work operations; a classifying unit for classifying the N?1 or N trajectories as (i) trajectories that need correction or (ii) trajectories that do not need correction; and a trajectory planning unit for planning a trajectory of a tip of the manipulator between two work regions relating to the each of the one or more trajectories, for each of the one or more trajectories classified as a trajectory that needs correction by the classifying unit.

A method of handling a manipulator of an industrial robot, the manipulator including a base member, a mounting interface and a kinematic chain between the base member and the mounting interface, the kinematic chain including the base member, the mounting interface and at least one controllable joint, the method including providing a candidate trajectory for the manipulator, the candidate trajectory being associated with a candidate path; receiving a load location input from a user, the load location input being associated with a load location associated with the industrial robot outside the kinematic chain; and calculating load values of a load parameter that will affect the load location if the candidate trajectory is executed. A control system and an industrial robot are also provided.

To provide a system that can enhance stability of a result of predicting the state of an object. At least one candidate trajectory having a degree of approximation to a reference trajectory generated based on a current state of the object being in a specified rank or higher over a first specification period is specified as a first candidate trajectory. At least one candidate trajectory, extending from a last time point of being the first candidate trajectory to before elapse of a second specification period, is specified as a second candidate trajectory. Accordingly, it becomes possible to enhance stability of the specification result of the candidate trajectory as a result of predicting the state of the object.