A cover for an automated robot includes elastic sheets that are adhered to each other in a geometry. The geometry is configured to allow the elastic sheets to expand and contract while the automated robot moves within its range of motion. The elastic sheets are attached to the automated robot by elasticity of the elastic sheets. A first group of the elastic sheets forms an elastic collar configured to grip the automated robot at a distal end and a proximal end of the cover in a non-breakable manner such that during operation of the robot, the elastic sheets hold their elasticity and integrity without breaking.

A display apparatus has a display 40, a model data storage unit 37 storing therein three-dimensional model data of a movable structure and a structure having a possibility of interfere with the movable structure, a model generation unit 33 generating a three-dimensional model in which three-dimensional models of the structures are arranged in a three-dimensional space, an interference-caution-portion specifying unit 34 specifying a portion of the movable structure having a possibility of contact with an interfering structure as an interference caution portion when an interfering structure exists and specifying a leading portion of the movable structure in a moving direction as an interference caution portion when an interfering structure does not exist, and an image display unit 35 generating an image with the interference caution portion highlighted based on the three-dimensional model generated by the model generation unit 33 and displaying the image on the display 40.

A control device includes: a storage unit that stores a working program and a tool length correction amount; a control unit that causes a table and a spindle to relatively move on the basis of the working program and the tool length correction amount; a region setting unit that sets an interference checking region including a tool held by the spindle on the basis of the tool length correction amount; and an interference determination unit that determines whether the interference checking region interferes or not with obstacles in surroundings of the tool in a case in which the tool and the table are caused to relatively move on the basis of the working program and the tool length correction amount.

Robotic medical systems may perform robotic movement that is saturated according to one or more constraints of the system. A robotic system can include a robotic arm configured to control a medical instrument. The robotic system can receive a first user input from a user for moving the robotic arm to control the medical instrument. The robotic system can guide the movement of the robotic arm along a collision boundary surrounding an object in accordance with the first user input and one or more secondary constraints.

In a control system, a node information notification portion identifies a selectable node including a machine constituent element as an interference article, and notifies an interference checker of node information relating to the node identified, in which an interference article setting unit acquires the node information, and sets the interference article based on a shape, a selection node, and a position and/or posture on a node, in which a transformation information calculation portion acquires information relating to the interference article, and derives a calculation formula for a position and/or posture of the selection node, in which an interference article position and posture calculation portion calculates the position and/or posture of the selection node, and calculates the position and/or posture of the interference article in a machine tool, and in which the interference checker checks whether there is an interference based on the position and/or posture of the interference article.

Systems and methods for saturated robotic movement are provided. In one aspect, there is provided a robotic system, including a robotic arm configured to control movement of a medical instrument, and a processor configured to: receive a first user input from a user for moving the medical instrument with the robotic arm, determine that moving the robotic arm according to the first user input would cause a contact point of the robotic arm to contact or cross a collision boundary surrounding an object, and guide the movement of the robotic arm such that the contact point of the robotic arm continuously moves along the collision boundary based in part on the first user input, in response to the determination that moving the robotic arm according to the first user input would cause the contact point to contact or cross the collision boundary.

Systems and methods for saturated robotic movement are provided. In one aspect, there is provided a robotic system, including a robotic arm configured to control movement of a medical instrument, and a processor configured to: receive a first user input from a user for moving the medical instrument with the robotic arm, determine that moving the robotic arm according to the first user input would cause a contact point of the robotic arm to contact or cross a collision boundary surrounding an object, and guide the movement of the robotic arm such that the contact point of the robotic arm continuously moves along the collision boundary based in part on the first user input, in response to the determination that moving the robotic arm according to the first user input would cause the contact point to contact or cross the collision boundary.

An NC device 20 determines, in a case where a size of an opening forming region in a predetermined direction is smaller than a predetermined maximum value, that the opening forming region is a first opening forming region, and determines, in a case where the size of the opening forming region in the predetermined direction is larger than a predetermined minimum value, that the opening forming region is an opening forming region where a scrap interfering with a laser head 16 is formed. In a case where the size of the opening forming region in the predetermined direction is smaller than the predetermined maximum value and larger than the predetermined minimum value, the device determines that the opening forming region in an interference width added region obtaining by adding a predetermined interference width to the opening forming region is a second opening forming region, and processes the second opening forming region prior to processing of the first opening forming region.

A robot and operation method is disclosed. The robot according to the present disclosure may include a sensor, a microphone, and a controller. The robot may execute an artificial intelligence (AI) algorithm and/or a machine learning algorithm, and may communicate with other electronic devices in a 5G communication environment. An embodiment may include detecting a movement of the robot to a location; detecting an obstacle within a predetermined range from the robot; estimating an occupation area of the obstacle in space; and identifying a sound signal received from the estimated occupation area of the obstacle from among a plurality of sound signals received by a plurality of microphones of the robot at the location.

According to the present invention, a numerical control device 3 moves a plurality of machine elements of a machine tool 2 along a plurality of control axes on the basis of a moving pulse and performs an interference check calculation between two machine elements forming a prescribed set to be checked. The numerical control device 3 comprises: an orientation dependence information storage unit 53 which stores orientation dependence information that depends on shape and orientation and does not depend on the position of each of the two machine elements forming the set to be checked; an interference check unit 36 which performs an interference check calculation on the basis of pieces of position information and the pieces of the orientation dependence information about the machine elements; and an orientation dependence information update unit 52 which acquires pieces of shape information and pieces of orientation information about the machine elements, and updates the pieces of orientation dependence information on the basis of the pieces of shape information and the pieces of orientation information, wherein the orientation dependence information update unit 52 does not update the pieces of orientation dependence information, when the pieces of orientation information do not change.