A robot programming device 1 is provided with a model layout unit 112 that lays out a workpiece model of a workpiece, a robot model of a robot, and a tool model of a tool in the virtual space, a machining site designation unit 113 that designates a machining site on the workpiece model, a stereoscopic shape layout unit 115 that lays out a predetermined stereoscopic shape such that a surface of the stereoscopic shape is filled in with a predetermined operation pattern and that the operation pattern is projected to at least one surface of the workpiece model, a machining path creation unit 116 that projects the operation pattern to at least one surface of the workpiece model to create a machining path for the tool, and a change unit 117 that changes the machining path and/or an operation program on the basis of the machining site.

A robot system includes at least one robot, a first sensor, at least one second sensor, and circuitry. The at least one robot is to work on a workpiece. The first sensor is to detect a three-dimensional shape of the workpiece. The at least one second sensor is to detect a three-dimensional position of the workpiece. The circuitry is configured to control the at least one robot based on teaching data. The circuitry is configured to correct the teaching data according to the three-dimensional shape detected by the first sensor. The circuitry is configured to correct the teaching data according to the three-dimensional position detected by the at least one second sensor.

A control device includes: a first generator generating a first command position of a control object on a plane in each control cycle based on a target trajectory; a first control part generating a first operation amount by model predictive control using a first dynamic characteristic model and the first command position; a second generator generating a second command position of the control object on an orthogonal axis in each control cycle; and a second control part generating a second operation amount by model predictive control using a second dynamic characteristic model and the second command position. Based on shape data indicating a surface shape of an object and the first command position, the second generator generates the second command position so that a distance between the control object and a surface of the object is constant.

A system for treating plants, in particular in agriculture, comprising a spray boom (RP) provided with a plurality of spray nozzles (BPi) supplied by a spray control device, and comprising a set of cameras (CAk) capable of capturing images of an area to be treated, a digital processing device capable of analyzing the images captured by the camera, identifying plants to be treated and applying commands to the spray control device with a view to selectively spraying a product on plants to be treated, each camera (CAk) being capable of capturing images of the crop area.

According to the invention, the system comprises a memory in which mapping data relating to mapping between a camera reference system and a spraying reference system are stored, and the digital processing circuit is capable, on the basis of said mapping data, of applying, to the images captured by each camera (CAk), subdivision data (Gk) for subdividing the image into cells corresponding to spray areas on the ground that are to be sprayed by respective spray nozzles, in order to thereby directly determine, from said subdivision data, at least one nozzle to be activated and its activation time when a plant to be treated is identified in a given cell of the image.

A device actuation system for actuating a treatment device includes a first drive gear rotatably mountable to the treatment device, a coupler rail slidably mountable to the treatment device, a second drive gear rotatably mountable to the coupler rail, and a coupler gear rotatably mountable to the treatment device and engageable with the coupler rail. In addition, the device actuation system includes a drive rail locatable between the first drive gear and the second drive gear of the gear system. The coupler gear is rotatable to move the coupler rail in a manner maintaining the second drive gear in continuous engagement with the drive rail against the first drive gear. The first drive gear and the second drive gear are rotatable in a manner causing at least one of translation and rotation of the treatment device relative to the drive rail.

A method for automatic glue-spraying of stringers and inspection of glue-spraying quality based on measured data. Three-dimensional (3D) point cloud data of a stringer-skin assembly is collected by 3D laser scanner, and then processed by denoising and sampling. Feature points of an intersection line of a site to be glued of the stringer-skin assembly are extracted by K-means clustering method based on Gaussian mapping, and a minimum spanning tree is constructed based on a set of the extracted feature points. A connected region is established to obtain an initial feature intersection line of the string-skin assembly, which is optimized by random sample consensus algorithm to remove redundant small branch structures to obtain the actual glue-spraying trajectory. The quality of the glue sprayed on the stringer-skin assembly is inspected by line laser to determine positions of the defects, which are then subjected to secondary glue-spraying.

A robotic programming apparatus, while using a robot equipped with a spraying device to move the spraying device, for creating an operation program of an application operation for applying a sprayed material sprayed from a nozzle of a spraying device to a member, that includes an operation pattern storage section configured to store a plurality of types of operation patterns each indicating operation of the spraying device that are operation patterns each formed of a continuous trajectory including periodic iteration of a constant pattern, and a pitch interval determination section configured to determine, for one operation pattern of the plurality of types of operation patterns stored in the operation pattern storage section, a pitch interval of the periodic iteration of the constant pattern in the one operation pattern based on a spray parameter representing a spray characteristic of the sprayed material by the nozzle of the spraying device.

The invention relates to a process for painting a workpiece using a painting robot including a robot arm equipped with a paint spraying device, the process including, an operation S1 of modeling a realistic 3D model corresponding to the workpiece as deformed and positioned in a paint cell, the realistic 3D model including paint trajectory information suitable for the workpiece as deformed and positioned in the paint cell, and a paint spraying operation S2 during which the paint spraying device is moved along the paint trajectory opposite the workpiece.

A control method for a robot system including a moving stage, a tool attached to the moving stage, and a robot arm holding one of the moving stage and an object and performing predetermined work on the object using the tool, includes performing the work while moving the tool relative to the object by the moving stage with the robot arm stopped, wherein a portion having a larger curvature has a smaller range of the work than a portion having a smaller curvature of the object.

A control method for a robot system includes setting a robot arm in a first attitude, performing work in a first region of an object while moving a tool relative to the object by a moving stage with the first attitude maintained, setting the robot arm in a second attitude, imaging the object using a camera and correcting a position of the tool by driving of the moving stage based on an imaging result with the second attitude maintained, and performing the work in a second region of the object while moving the tool relative to the object by the moving stage with the second attitude maintained.