To provide a robot control system that performs a process by a robot for a continuously-moving process target or a repeatedly-moving/stopped process target, the robot control system being configured so that even in a case where the robot process cannot be properly performed in the robot control system, disadvantages such as occurrence of damage of equipment can be avoided by sensing of such failure in the robot process. The robot control system includes a robot that performs a process for a process target, a control unit that controls drive of the robot, a first area setting unit that sets a first area where the process is performed for the process target, and a second area setting unit that sets a second area outside the first area such that the robot performs a retraction motion when a working apparatus provided at the robot moves out of the first area and enters the second area while the robot is following the moving process target.

Methods, systems, and apparatus, including medium-encoded computer program products, for computer aided design of physical structures include: obtaining a density-based representation of a modeled object and data specifying a starting element for each of multiple different subsets of elements; processing starting elements having milling depths associated with layers below a top most layer, the processing including, for a current starting element for a current layer, identifying other starting elements that have milling depths associated with a layer above the current layer and are closer to the current starting element than an amount at least equal to a radius of a smallest available milling tool, calculating a maximum angular difference, and moving the milling depth for the element subset of the current starting element to a layer above the current layer, responsive to the maximum angular difference being greater than a threshold, to remove a non-manufacturable corner.

Methods, systems, and apparatus, including medium-encoded computer program products, for computer aided design of physical structures include: obtaining a density-based representation of a modeled object and data specifying a starting element for each of multiple different subsets of elements; processing starting elements having milling depths associated with layers below a top most layer, the processing including, for a current starting element for a current layer, identifying other starting elements that have milling depths associated with a layer above the current layer and are closer to the current starting element than an amount at least equal to a radius of a smallest available milling tool, calculating a maximum angular difference, and moving the milling depth for the element subset of the current starting element to a layer above the current layer, responsive to the maximum angular difference being greater than a threshold, to remove a non-manufacturable corner.

Methods, systems, and apparatus, including medium-encoded computer program products, for computer aided design of physical structures include: obtaining a density-based representation of a modeled object and data specifying a starting element for each of multiple different subsets of elements; processing starting elements having milling depths associated with layers below a top most layer, the processing including, for a current starting element for a current layer, identifying other starting elements that have milling depths associated with a layer above the current layer and are closer to the current starting element than an amount at least equal to a radius of a smallest available milling tool, calculating a maximum angular difference, and moving the milling depth for the element subset of the current starting element to a layer above the current layer, responsive to the maximum angular difference being greater than a threshold, to remove a non-manufacturable corner.

To provide a robot control system that performs a process by a robot for a continuously-moving process target or a repeatedly-moving/stopped process target, the robot control system being configured so that even in a case where the robot process cannot be properly performed in the robot control system, disadvantages such as occurrence of damage of equipment can be avoided by sensing of such failure in the robot process. The robot control system includes a robot that performs a process for a process target, a control unit that controls drive of the robot, a first area setting unit that sets a first area where the process is performed for the process target, and a second area setting unit that sets a second area outside the first area such that the robot performs a retraction motion when a working apparatus provided at the robot moves out of the first area and enters the second area while the robot is following the moving process target.