Entries |
Document | Title | Date |
20080234864 | Robots with Collision Avoidance Functionality - A robot is provided with a motion control unit that avoids collision between segments of the robot or between segments of the robot and other objects. The motion control unit of the robot comprises a distance computing module, a whole body control module, a collision avoidance module, and a blending control unit. The distance computing module calculates two closest points of different segments of the robot connected to each other via at least one joint or a segment of the robot and another object. The collision avoidance module is provided with the information about the two closest points. The blending control unit combines the weighted output control signals of the whole body control module and the collision avoidance control module. The weight of the whole body control output signal is higher when the risk of collision is lower. The weight of the collision avoidance control output signal is higher when the risk of collision is higher. The collision avoidance module is designed to control a collision avoidance action only in the direction parallel to a line connecting between the two closest points. | 09-25-2008 |
20080288109 | CONTROL METHOD FOR SYNCHRONOUS HIGH SPEED MOTION STOP FOR MULTI-TOP LOADERS ACROSS CONTROLLERS - A synchronous high speed motion stop for a series of multi-top loaders residing on “n” controllers on one rail achieves effective detection of the servo-error status and shut off of the trailing controller's servo power within 3 ITP time. The control method reduces the unnecessary error recovery because it only shuts off its immediate trailing controller without aborting its leading controller, allowing the leading controller to complete the cycle tasks. The cascade control method produces a synchronous high-speed motion stop for the robots across the controllers and effectively prevents the collision between the robots. | 11-20-2008 |
20090069938 | AUTONOMOUS VEHICLE AND PLANAR OBSTACLE RECOGNITION METHOD - In an autonomous vehicle, position of a planar obstacle such as a wall or a fence having apertures is determined. A horizontal plane is scanned with a laser range tinder so as to acquire positional coordinates of a plurality of scanning points. An element vector is formed with each two scanning points so that one acquired former is used as a start point and the other acquired later as an end point of the vector. A plurality of continuous element vectors which satisfy predetermined conditions is selected among the element vectors, and a scanning segment vector is formed by composition of the selected element vectors. When a length of the scanning segment vector is equal to or longer than a predetermined length, it is possible to recognize that a planar obstacle exists along the scanning segment vector. | 03-12-2009 |
20090118863 | REAL-TIME SELF COLLISION AND OBSTACLE AVOIDANCE USING WEIGHTING MATRIX - A system, method, and computer program product for avoiding collision of a body segment with other structures in an articulated system are described. According to one aspect, a collision function is determined for avoiding such collision. A distance between the body segment and one such structure is measured. A weighting matrix is generated based on the collision function and the distance, and used to determine a redirected motion for the body segment. The body segment is redirected based on the redirected motion to avoid colliding with the structure. | 05-07-2009 |
20090326713 | AUTONOMOUS MOBILE ROBOT SYSTEM - The possibilities of collision of a mobile robot with objects can be reduced significantly in actual robot movements. In an aspect of the present invention, there is provided an autonomous mobile robot system including a mobile robot and a computing system. The mobile robot includes: a sensing section for measuring surrounding conditions of the mobile robot; a position-posture estimating section for estimating position-posture data from sensing data obtained by the sensing section and an environmental map; and a robot moving section for controlling movements of the mobile robot according to movement control data determined from the position-posture data thus estimated and movement route data. | 12-31-2009 |
20100121489 | ROBOT AND ROBOT SYSTEM - A robot system includes a robot including a movable portion, a plurality of transmitters that is provided on the movable portion and transmits wireless signals, three or more receivers receiving the wireless signals transmitted from each of the transmitters, and a position calculating unit detecting locations of the transmitters based on the wireless signals that the plurality of the receivers receives. In the system, the position calculating unit detects a pose of the robot from information on the locations of the detected plurality of the transmitters. | 05-13-2010 |
20100145515 | ROBOT SYSTEM AND CONTROL METHOD - A robot system includes a robot arm driven by a motor, a collision detector that detects a collision between the robot arm and an obstacle, which is provided on the robot arm, and a stopping method selector that controls the robot arm by selecting any one of all stopping methods on the basis of the information obtained by the collision detector, thereby selecting a stopping method in accordance with the status of the collision. | 06-10-2010 |
20100161126 | Humanoid Fall Direction Change Among Multiple Objects - A system and method is disclosed for controlling a robot having at least two legs, the robot falling down from an upright posture and the robot located near a plurality of surrounding objects. A plurality of predicted fall directions of the robot are determined, where each predicted fall direction is associated with a foot placement strategy, such as taking a step, for avoiding the surrounding objects. The degree to which each predicted fall direction avoids the surrounding objects is determined. A best strategy is selected from the various foot placement strategies based on the degree to which the associated fall direction avoids the surrounding objects. The robot is controlled to implement this best strategy. | 06-24-2010 |
20100318224 | MANIPULATOR AND METHOD OF CONTROLLING THE SAME - A manipulator is provided with an arm, an arm, a holding section, a first joint section pivotally interconnecting the arm and the arm, a second joint section pivotally interconnecting the arm and the holding section, a first joint driving section capable of driving the first joint section, a second joint driving section capable of driving the second joint section, a member specifying section for specifying one of the arms which has a possibility of collision with an obstacle or which has collided with the obstacle, and a control device for controlling the first joint driving section and the second joint driving section to pivotally move the one of the arms specified by the member specifying section in a direction away from the obstacle, and pivotally move the other of the arms in a direction toward the obstacle. | 12-16-2010 |
20110010010 | ROBOT SAFETY DEVICE AND ROBOT - A robot safety device, which is provided between a drive shaft of a robot and an actuator for driving the drive shaft and prevents unexpected action to a user positioned around the robot, and in which such a possibility that a robot damages a person is detected and the detection is utilized as a trigger to quickly stop the driving force for the robot. The device is provided with a transmission part which transmits to the drive shaft an output from the actuator, an acceleration operation corresponding part which mechanically generates corresponding to the transmission accelerating operation of the transmission part caused by the actuator, regulation auxiliary force for regulating the operation of the transmission part caused by the output from the actuator, and a regulation part which is driven by the regulation auxiliary force generated by the accelerating operation corresponding part and regulates the operation of the transmission part. | 01-13-2011 |
20110035053 | Path planning apparatus and method of Robot - Disclosed herein is a path planning apparatus and method of a robot, in which a path, along which the robot accesses an object to grasp the object, is planned. The path planning method includes judging whether or not a robot hand of a robot collides with an obstacle when the robot hand moves along one access path candidate selected from plural access path candidates along which the robot hand accesses an object to grasp the object, calculating an access score of the selected access path candidate when the robot hand does not collide with the obstacle, and determining an access path plan using the access score of the selected access path candidate. | 02-10-2011 |
20110054688 | X-Ray Device And Medical Workplace - The invention relates to an X-ray device ( | 03-03-2011 |
20110060462 | Method And Device For Stopping A Manipulator - A method according to the invention for stopping a manipulator ( | 03-10-2011 |
20110153080 | METHOD AND APPARATUS FOR INDUSTRIAL ROBOTIC PATHSCYCLE TIME OPTIMIZATION USING FLY BY - A system, method, and computer readable medium. A method for robotic path planning includes receiving a robotic path for a robot and associating a plurality of zones with each location in the robotic path. The method also includes selecting for each location one of the zones associated with the location and simulating motion of the robot over the robotic path using the locations and selected zones. The method further includes determining whether a collision occurred in the simulated motion of the robot. The method still further includes, if there was a collision, identifying a location associated with the collision, selecting a new zone for the identified location other than the currently selected zone, and repeating the steps of simulating motion of the robot and determining whether a collision occurred. The method also includes, if there wasn't a collision, assigning to each location its currently selected zone. | 06-23-2011 |
20110153081 | Robotic Floor Cleaning Apparatus with Shell Connected to the Cleaning Assembly and Suspended over the Drive System - A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function. | 06-23-2011 |
20110166707 | SYSTEM FOR LOCALIZATION AND OBSTACLE DETECTION USING A COMMON RECEIVER - A localization and obstacle detection system comprising a first signal projector configured to project a first signal into an environment and a robot configured to move in the environment. The robot comprises a second signal projector configured to project a second signal into the environment; a signal receiver configured to receive the first signal and the second signal; a localizer configured to determine a location of the robot in the environment based at least in part on the received first signal; and a detector configured to determine the presence of an obstacle in the environment based at least in part on the intensity and bearing of the received second signal and without touching the obstacle; wherein the second signal is distinct from the first signal in at least one characteristic. | 07-07-2011 |
20110196533 | Method For Collision-Free Path Planning Of An Industrial Robot - The invention relates to a method for collision-free path planning for an industrial robot ( | 08-11-2011 |
20110213497 | ROBOT ARM AND METHOD OF CONTROLLING ROBOT ARM TO AVOID COLLISIONS - A method of automatically controlling an extendable robot arm to avoid collisions while returning to a first position from a second position includes periodically storing locations of the robot arm as the robot arm moves along a forward path from the first position to the second position; applying heuristic algorithms to the stored locations to determine a return path to the first position, the return path including at least a portion of a retrace path retracing the stored locations of the forward path; and controlling the robot arm to return to the first position using the determined return path. | 09-01-2011 |
20110224826 | ROBOT SYSTEM - A process includes defining, in a memory, arm-occupied regions including robot arms and a workpiece and tool attached to a robot wrist, a virtual safety protection barrier with which the arms are not allowed to come into contact, and movable ranges of robot axes; estimating the coasting angle of each robot axis for which the axis will coast when the robot is stopped due to an emergency stop while moving to a next target position, from an actually measured amount of coasting and the like; determining a post-coasting predicted position of the robot by adding the estimated coasting angles to the next target position; checking whether or not the arm-occupied regions at the post-coasting predicted position will come into contact with the virtual safety protection barrier, or whether or not the robot axes are within the movable ranges; and performing control to stop the robot immediately upon detection of abnormality. | 09-15-2011 |
20110307097 | PROTECTIVE SKIN FOR ROBOTS - Detector device arranged to cover at least one portion of a mobile appliance; the device has an electromechanical transducer including a substrate, a first series of electrodes, a second series of electrodes, and a deformable layer associated with the electrodes of the two series, the substrate, the electrodes, and the deformable layer forming a single unit mounted on the portion of the mobile appliance and arranged so that a current flowing between one of the electrodes of the first series and an adjacent electrode of the second series is proportional to a thickness of the deformable layer in register with the electrodes. The substrate including a base layer to which are attached the electrodes of the first series and the electrodes of the second series, which have facing portions, and a variable conduction layer that covers the base layer and the electrodes. | 12-15-2011 |
20120022689 | System and Method for Robot Safety and Collision Avoidance - A system and method for developing an intrusion detection zone substantially surrounding mobile components of a robot, training a model of the robot to accept selected intrusions into the intrusion detection zone, and, during application operations, triggering an application interrupt upon detecting an unexpected intrusion. | 01-26-2012 |
20120059515 | WORKSPACE SAFE OPERATION OF A FORCE- OR IMPEDANCE-CONTROLLED ROBOT - A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above. | 03-08-2012 |
20120072022 | ROBOT AND CONTROL METHOD THEREOF - A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes calculating in advance and storing a plurality of grasp poses to generate grasp routes, sensing respective orientations of an object, the robot arms, and an obstacle, selecting one grasp pose from among the plurality of grasp poses by judging a movable angle range of the at least one joint unit, whether or not the object collides with the obstacle, and self-collision between the robot hands based on the sensed respective orientations, and generating grasp routes using the selected grasp pose. In the control method, the plurality of feasible grasp poses is calculated in advance and then stored, thereby rapidly and stably performing grasping of the object. | 03-22-2012 |
20120078419 | ROBOT AND CONTROL METHOD THEREOF - A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes dividing an object into target and feasible grasp regions and storing grasp policies respectively corresponding to the grasp regions, sensing respective orientations of the object, the at least one joint unit, and an obstacle, judging whether or not grasping of the target grasp region is feasible after sensing the orientations, generating a grasp route using the grasp policy for the target grasp region, upon judging that grasping of the target grasp region is feasible, and generating a grasp route using the grasp policy for one of the feasible grasp regions, upon judging that grasping of the target grasp region is not feasible, and controlling the at least one joint unit and the hand to trace the generated grasp route. | 03-29-2012 |
20120083923 | ROBOT CONTROL SYSTEM, ROBOT CONTROL TERMINAL, AND ROBOT CONTROL METHOD - The invention notifies a robot controller of the need to re-create map data. A robot control system ( | 04-05-2012 |
20120136480 | Method to control medical equipment - A method to control medical equipment that moves along at least one axis or performs joint movement is provided. While the medical equipment is passively moved as operated by the operator, the operation intention of the operator is determined using a force sensor, a torque sensor, or the like, and motor control is performed taking into consideration the determined operation intention to reduce load (or drive power) of the operator. To accomplish this, the method determines a direction and magnitude of force that an operator applies to the medical equipment to move the medical equipment and generates auxiliary force having a magnitude proportional to the force applied by the operator and having the same direction as the direction of the force applied by the operator such that the medical equipment is easily moved. | 05-31-2012 |
20120143372 | ROBOT AND METHOD FOR PLANNING PATH OF THE SAME - A robot and a method for planning a path of the robot. The method includes storing coordinates of a base cell in a queue structure, setting a plurality of cells adjacent to the base cell as scan cells, calculating a movement direction of the robot from the base cell to each of the scan cells, calculating movement cost of each of the scan cells according to the calculated movement direction, comparing the calculated movement cost and movement cost previously stored in each of the scan cells and determining whether or not coordinates of each of the scan cells are stored in the queue structure, and repeatedly performing a process of recording the movement direction and the movement cost in each of the scan cells and building a map of the movement space of the robot if the coordinates of each of the scan cells are stored in the queue structure. | 06-07-2012 |
20120158178 | ROBOT AND METHOD FOR CREATING PATH OF THE ROBOT - A robot and a method for creating a robot path. The method for planning the robot path includes generating a depth map including a plurality of cells by measuring a distance to an object, dividing a boundary among the plurality of cells into a plurality of partitions according to individual depth values of the cells, and extracting a single closed loop formed by the divided boundary, obtaining a position and shape of the object located at a first time through the extracted single closed loop, calculating a probability that the object is located at a second time after t seconds on the basis of the obtained position and shape of the object located at the first time, and creating a moving path simultaneously while avoiding the object according to the calculated probability, thereby creating an optimum path without colliding with the object. | 06-21-2012 |
20120165981 | CHORD-PLAYING ROBOT SYSTEM AND METHOD FOR CONTROLLING THE SAME - A chord-playing robot system is disclosed. The robot system includes a computer including an anti-collision program, two linear motors, two moving devices, and two finger-like devices. The finger-like devices are respectively connected with the moving devices. The anti-collision program is executed to prevent the moving devices from colliding with each other. The linear motors are controlled by the computer and are operable to drive the moving devices. Each finger-like device includes a plurality of tubular solenoids and a plurality of electromagnetic bars. The tubular solenoids are disposed in alternating sequence in two rows. The computer is operable to determine if there is any one of the tubular solenoids shall be switched on. The at least one tubular solenoid, upon switched on, is configured to move the associated electromagnetic bar toward for pressing a key on a piano. | 06-28-2012 |
20120165982 | APPARATUS FOR PLANNING PATH OF ROBOT AND METHOD THEREOF - A method for planning the robot path includes forming a shape space that includes a start point, a goal point, and obstacle information so as to generate a moving path of the robot, generating one or more moving paths of the robot within the shape space, and storing the generated moving paths in a database, selecting a specific path that has a minimum operation range of the robot and a minimum constraint caused by the obstacle from among the stored moving paths, and planning the selected path, enabling the robot to perform motion along the planned path, and pre-planning a path for a next motion of the robot while the robot performs the motion. The apparatus or method for planning the robot path can reduce a time from an end time of one motion to the start time of the next motion, thereby performing a smooth motion. | 06-28-2012 |
20120215354 | Semi-Autonomous Multi-Use Robot System and Method of Operation - A semi-autonomous robot system ( | 08-23-2012 |
20120226381 | AUTONOMOUS ROBOT - A method for communication between a charging station and a robot, via a pair of power lines coupled between a power supply in the charging station and a battery in the robot. In operation, the power supply is sequentially switched between a first voltage level and a second voltage level in accordance with a predetermined signal pattern. The voltage level on the power lines in the robot is monitored and correlated with a specific command to be executed by the robot. | 09-06-2012 |
20120245735 | DAMAGE REDUCTION CONTROL FOR HUMANOID ROBOT FALL - A humanoid robot fall controller controls motion of a robot to minimize damage when it determines that a fall is unavoidable. The robot controller detects a state of the robot during the fall and determines a desired rotational velocity that will allow the robot to re-orient itself during the fall to land on a predetermined target body segment (e.g., a backpack). The predetermined target body segment can be specially designed to absorb the impact of the fall and protect important components of the robot. | 09-27-2012 |
20120265342 | METHOD AND APPARATUS FOR PREDICTING INTERFERENCE BETWEEN TARGET SECTION OF ROBOT AND PERIPHERAL OBJECT - A method and an apparatus for predicting interference, at practical accuracy and calculation time, between a target section of a robot and a peripheral object installed around the robot, when the target section, such as a tool or a sensor attached to a robot hand, is moved along a movement path thereof due to the motion of the robot. A convex hull, defined by areas occupied by the tool at adjacent time points, is calculated. It is judged whether a common area exists between the convex hull and a polyhedron area. When the common area exists, it is judged that the tool interferes with the container box on the movement path, and the procedure is terminated. When the common area does not exist, it is judged whether j10-18-2012 | |
20120277910 | BIPED WALKING ROBOT - Provided is a method for determining a grounding timing of a biped walking robot. Firstly, a ZMP equation which represents a trajectory of a center of gravity including a first single-leg grounded period in which the robot stands only with a first leg and a second single-leg grounded period in which the robot stands only with a second leg, following the first single-leg grounded period, is solved using a predetermined grounding timing. A second leg ZMP position representing a ZMP position in the second single-leg grounded period is then calculated. When the calculated second leg ZMP position is out of the second leg ZMP permissible area, the grounding timing is modified so that the second leg ZMP position is located in a second leg ZMP permissible area which is defined corresponding to a possible grounding area of the second leg. | 11-01-2012 |
20120290132 | ROBOT DEVICE, METHOD OF CONTROLLING THE SAME, AND PROGRAM FOR CONTROLLING THE SAME - Provided is a robot device including a drive unit including a plurality of links and joints connecting the links, a task instruction input unit for inputting an instruction of a task, a drive control unit for controlling an operation of the drive unit on the basis of the input task and determining a restricted area including a space necessary for the operation of the drive unit, and an area display unit for displaying the restricted area. | 11-15-2012 |
20130013110 | METHOD OF FINDING FEASIBLE JOINT TRAJECTORIES FOR AN N-DOF ROBOT WITH ROTATION IN-VARIANT PROCESS (N>5) - There is provided a computer-implemented method for determining feasible joint trajectories for an n-dof (n>5) robot in a rotation invariant processing of an object, such as milling, painting, and welding. The method includes the steps of receiving geometric data representing the object; receiving geometric data representing the processing tool; receiving a tool path X(t), where t is time; searching for feasible paths q | 01-10-2013 |
20130116822 | ROBOT PROGRAMMING DEVICE - A robot programming device ( | 05-09-2013 |
20130178980 | ANTI-COLLISION SYSTEM FOR MOVING AN OBJECT AROUND A CONGESTED ENVIRONMENT - An anti-collision system is provided for moving an object around an environment, the system including a processing unit connected to sensors capable of obtaining the position of the object in the environment in real time, the processing unit being provided with software and hardware for monitoring the object and for implementing: a virtual 3-D model of the environment, a real-time virtual 3-D model of the object moving around the environment, a virtual 3-D model of a virtual shell around the object, and an algorithm for real-time detection of collisions between the virtual shell and the modeled environment, a warning signal and an estimation of the collision being generated in the event of a virtual collision. | 07-11-2013 |
20130345869 | USER INTERFACES FOR ROBOT TRAINING - In accordance with various embodiments, a user-guidable robot appendage provides haptic feedback to the user. | 12-26-2013 |
20140018958 | SAFETY SYSTEM AND CONTROL DEVICE - One aspect of the present invention provides a new safety system that can perform measurement in order to clearly set a realistic determination value and a control device constituting the safety system. The safety system, which causes a target device to transition to a safety state when an event matched with a predetermined safety condition is generated, is provided. The safety system includes a control device that includes a monitoring function of continuously collecting information on the safety condition and a management device that aggregates the information on the safety condition, which is collected by the control device. In response to generation of the event matched with the safety condition, the control device stores the information on the safety condition for a predetermined period based on generation timing of the event while correlating the generation timing with the collected information. The management device aggregates the information on the safety condition with the generation timing as a reference. | 01-16-2014 |
20140018959 | ROBOT CONTROL APPARATUS - A robot control apparatus, which causes a robot to use its hand to grasp and move a workpiece detected by a workpiece detection unit, has a storage unit and a control unit. A non-interference area in which no interference occurs between the hand and a surrounding environment and a work area through which the hand potentially passes when grasping the workpiece are stored as a parameter in the storage unit. The control unit computes, based on a position and an attitude of the detected workpiece and the parameter regarding the work area, a position and an orientation of the work area with reference to the position of the detected workpiece. Moreover, the control unit computes an overlap between a surrounding environment area excluding the non-interference area and the work area having the computed position and orientation. If there is the overlap, the control unit executes a predetermined operation. | 01-16-2014 |
20140025203 | COLLISION DETECTION SYSTEM, COLLISION DETECTION DATA GENERATOR, AND ROBOT - A collision detection system includes a memory unit that stores first collision detection data corresponding to a first object and second collision detection data corresponding to a second object as collision detection data of objects, and a processing unit that performs a collision determination between the first object and the second object in the world coordinate system based on the first collision detection data and the second collision detection data. The memory unit stores representative point data obtained by discretization of depth map data of the objects as seen from a predetermined viewpoint in model coordinate systems of the objects using cubic areas set in the model coordinate systems as the collision detection data. | 01-23-2014 |
20140025204 | METHOD FOR OPERATING A SAFETY DEVICE FOR A HANDLING DEVICE, SAFETY DEVICE FOR A HANDLING DEVICE, AND HANDLING DEVICE - In a method for operating a safety device for a handling device, e.g., an industrial robot having a movable gripper device and at least one sensor device at least largely surrounding the gripper device for recognizing at least possible collisions with objects located in the motion path of the gripper device, a signal is output to a control unit upon recognizing a collision risk, resulting in a modified motion sequence of the gripper device on its motion path, which modified motion sequence is a controlled reduction in the motion velocity of the gripper device. | 01-23-2014 |
20140031982 | ROBOTIC SYSTEM AND ROBOT CONTROL DEVICE - A robotic system determines whether or not a movable section including an arm having a plurality of links and a plurality of joints and an end effector disposed at a tip of the arm and an obstacle interfere with each other based on positional information of a plurality of teaching points and positional information of the obstacle when moving the movable section along the plurality of teaching points. The robotic system changes the position of predetermined one of the teaching points based on limitation information in the case in which the movable section and the obstacle interfere with each other at the predetermined one of the teaching points. | 01-30-2014 |
20140067121 | SYSTEMS AND METHODS FOR SAFE ROBOT OPERATION - In various embodiments, safe collaboration between a robot and humans is achieved by operating the robot continuously at or below a first threshold speed at which any collisions with a person's arms do not cause harm, and, upon detection of the person's torso or head within a danger zone around the robot, reducing the speed to or below a second threshold at which any collisions with the person's torso or head do not cause harm. | 03-06-2014 |
20140088763 | METHODS AND SYSTEMS FOR DETERMINING EFFICIENT ROBOT-BASE POSITION - Various disclosed embodiments include systems and methods for determining an efficient robot-base position. The method includes receiving available robot-base positions and determining valid robot-base positions from the available robot-base positions. The method includes generating for the valid robot-base positions respective directed graphs providing a plurality of robotic-paths. The method includes determining the shortest robotic-path between start and end nodes. The method includes determining and storing the efficient robot-base position from the valid robot-base positions, wherein the efficient robot-base position has the shortest, collision-free robotic-path between start and end nodes. | 03-27-2014 |
20140121833 | APPARATUS AND METHOD FOR PLANNING PATH OF ROBOT, AND THE RECORDING MEDIA STORING THE PROGRAM FOR PERFORMING THE METHOD - A method and an apparatus for planning path of robot in correspondence to environment changes in real time, and a recording medium storing the program for performing the said method. The method includes operating the robot according to a first path; generating a second path if an obstacle is discovered around the robot while the robot is being operated according to the first path, and data of the first path exist in a first space within a first distance from a current location of the robot; and operating the robot according to at least the second path. | 05-01-2014 |
20140135984 | ROBOT SYSTEM - A robot system includes a robot, a storage, an authenticator, a determinator, and an instructor. The robot shares a workspace with a worker. The storage stores authentication information of the worker. While the worker is approaching the workspace, the authenticator determines whether the worker is a registered worker based on the authentication information. When the worker is authenticated as a registered worker by the authenticator, the determinator determines a new operation area and a new operation speed of the robot in accordance with a type of work and a work experience of the worker. The type of work and the work experience are identified when the worker is authenticated as a registered worker by the authenticator. The instructor instructs the robot to operate based on the new operation area and the new operation speed of the robot determined by the determinator. | 05-15-2014 |
20140135985 | METHODS AND APPARATUS FOR SURGICAL PLANNING - Methods and apparatus for enhancing surgical planning provide enhanced planning of entry port placement and/or robot position for laparoscopic, robotic, and other minimally invasive surgery. Various embodiments may be used in robotic surgery systems to identify advantageous entry ports for multiple robotic surgical tools into a patient to access a surgical site. Generally, data such as imaging data is processed and used to create a model of a surgical site, which can then be used to select advantageous entry port sites for two or more surgical tools based on multiple criteria. Advantageous robot positioning may also be determined, based on the entry port locations and other factors. Validation and simulation may then be provided to ensure feasibility of the selected port placements and/or robot positions. Such methods, apparatus, and systems may also be used in non-surgical contexts, such as for robotic port placement in munitions diffusion or hazardous waste handling. | 05-15-2014 |
20140142757 | COMPANION ROBOT FOR PERSONAL INTERACTION - A mobile robot guest for interacting with a human resident performs a room-traversing search procedure prior to interacting with the resident, and may verbally query whether the resident being sought is present. Upon finding the resident, the mobile robot may facilitate a teleconferencing session with a remote third party, or interact with the resident in a number of ways. For example, the robot may carry on a dialogue with the resident, reinforce compliance with medication or other schedules, etc. In addition, the robot incorporates safety features for preventing collisions with the resident; and the robot may audibly announce and/or visibly indicate its presence in order to avoid becoming a dangerous obstacle. Furthermore, the mobile robot behaves in accordance with an integral privacy policy, such that any sensor recording or transmission must be approved by the resident. | 05-22-2014 |
20140163733 | SYSTEM FOR CONTROLLING A ROBOT'S COLLISION WITH AN OBSTACLE, A ROBOT EQUIPPED WITH SUCH A SYSTEM AND A METHOD OF CONTROLLING A ROBOT'S COLLISION WITH AN OBSTACLE - The invention is related to a system for controlling a robot collision with an obstacle, characterized by having an electronics system ( | 06-12-2014 |
20140257562 | OBJECT SEARCHING SYSTEM, OBJECT SEARCHING METHOD, AND CLEANING ROBOT - A cleaning robot includes a chassis, a cleaning device, a moving device, and a control system. The control system is configured to perform functions: capturing an image in front of a cleaning robot by a camera; comparing the image with a number of reference images to determine whether the image is the same as one of the reference images; storing a position of the cleaning robot and the image when the image is the same as one of the reference images; adjusting the path of the cleaning robot to stop the cleaning robot from cleaning the object; and emitting an alarm. | 09-11-2014 |
20140277723 | ROBOT SYSTEM AND METHOD FOR CONTROLLING ROBOT SYSTEM - A robot system of the present disclosure includes: a robot including an operable working arm; a motion speed detection unit configured to detect a motion speed of the working arm; a region setting unit that sets a region with a predetermined range around the robot; a moving body detection unit configured to detect a position of the moving body other than the robot; and an abnormality determination unit configured to determine abnormality when detecting of the position of the moving body within the region, wherein the region setting unit changes the range of the region according to the motion speed of the working arm. | 09-18-2014 |
20140277724 | ROBOT SYSTEM AND METHOD FOR CONTROLLING ROBOT SYSTEM - A robot system of the present disclosure includes: a robot including an operable working arm driven by an actuator; an operation load detection unit configured to detect an operation load of the actuator; a region setting unit that sets a region with a predetermined range around the robot; a moving body detection unit configured to detect a position of a moving body other than the robot; and an abnormality determination unit that determines abnormality when detecting of the position of the moving body within the region, wherein the region setting unit changes the range of the region in accordance with the operation load of the actuator. | 09-18-2014 |
20140277725 | ROBOT SYSTEM AND METHOD FOR CONTROLLING ROBOT SYSTEM - A robot system of the present disclosure includes a robot and a controller configured to control motion of the robot, and the controller includes: a motion mode storage unit storing a plurality of motion modes for controlling the robot to switch a motion state of the robot from a normal motion state to a special motion state when a predetermined first condition is satisfied; and a motion mode switching unit configured to switch the motion mode of the robot to another motion mode when, while a particular motion mode stored in the motion mode storage unit is in execution, a predetermined second condition for the particular motion mode is satisfied with a first condition for the particular motion mode satisfied. | 09-18-2014 |
20140277726 | ROBOT SYSTEM AND METHOD OF CONTROLLING THE ROBOT SYSTEM - A robot system is provided, which includes a robot having an operable operation arm, an attachment detector for detecting one or more attachments, each attached to a wearing article equipped by a movable body, and a motion-control changer for changing a motion control of the robot based on a detection result detected by the attachment detector. | 09-18-2014 |
20140316569 | METHOD TO PREVENT INTERFERENCE AND DETECT COLLISION BETWEEN MECHANICAL MEMBERS - Method to control the interference and/or collision between mechanical members of at least two operating or one operating unit with respect to fixed positions. At least one operating unit is associated with a position detector or with a position simulator, and is equipped with an electric which drives a mechanical member. The method is managed by a management and control unit. The control of the operating units occurs in two phases, verifying point-by-point the position of the mechanical member as a function of the current dynamics and the braking or acceleration times and spaces (first phase), and verifying the intensity of point-by-point current supplied to at least one electric motor (second phase). | 10-23-2014 |
20140316570 | SYSTEMS AND METHODS FOR COMMUNICATING ROBOT INTENTIONS TO HUMAN BEINGS - In one embodiment, communicating robot intentions to human beings involves determining movements that a robot will make to complete a task, visually communicating a long-term intention of the robot that provides an indication of the movements the robot will make in completing the task, and visually communicating a short-tem intention of the robot that provides an indication of a movement of the robot will make within the next few seconds in working toward completing the task. | 10-23-2014 |
20150012133 | WORKING ROBOT AND ROBOT SYSTEM - The working robot includes a plurality of link members coupled rotatably around shafts, a motor driving the link members, and a controller switching a state of use of winding wires of the motor based on a result of sensing a moving object including a human in a predetermined area. The controller switches the state of use of the winding wires of the motor, to drive the link members in a first mode in which the number of revolutions or the torque of the motor is relatively large, when the moving object is not present; and switches the state of use of the winding wires of the motor, to drive the link members in a second mode in which the number of revolutions or the torque of the motor is relatively small, when the moving object is present. | 01-08-2015 |
20150032259 | CLEANING ROBOT AND METHOD FOR CONTROLLING THE SAME - A cleaning robot includes a non-circular main body, a moving assembly mounted on a bottom surface of the main body to perform forward movement, backward movement and rotation of the main body, a cleaning tool assembly mounted on the bottom surface of the main body to clean a floor, a detector to detect an obstacle around the main body, and a controller to determine whether an obstacle is present in a forward direction of the main body based on a detection signal of the detector, control the rotation of the main body to determine whether the main body rotates by a predetermined angle or more upon determining that the obstacle is present in the forward direction, and determine that the main body is in a stuck state to control the backward movement of the main body if the main body rotates by the predetermined angle or less. | 01-29-2015 |
20150081096 | ROBOT AND ROBOT SYSTEM - A robot is provided with a base to be fixed to an installation surface, and an arm unit having a plurality of arm bodies sequentially and revolvably coupled with each other with one end coupled to the base through a joint unit. The arm unit has a stopper mechanism having a movable stopper member capable of restricting a revolving motion of the arm bodies to a predetermined revolving range. The movable stopper member is provided to one link of one of the pairs of links coupled through the joint unit, whereas the fixed stopper member, which is engaged with the movable stopper member, is provided to another link of the one of the pairs of links. | 03-19-2015 |
20150105906 | AUTONOMOUS MOBILE DEVICE, AUTONOMOUS MOVEMENT SYSTEM, AND AUTONOMOUS MOVEMENT METHOD - An autonomous mobile device, an autonomous movement system, and an autonomous movement method, each having an obstacle avoidance capability, are provided. The autonomous mobile device includes an avoidance pattern determination unit for determining the travel pattern of the local device according to the state of motion, relative to the autonomous movement device, of a mobile obstacle other than the autonomous movement device; and a travel controller for causing the autonomous movement device to travel according to the travel pattern determined by the avoidance pattern determination unit. One of avoidance patterns is selected in accordance with a relative velocity to a mobile obstacle. | 04-16-2015 |
20150134113 | METHOD FOR OPERATING A ROBOT - The invention relates to a method for operating a robot, including detecting the spatial position and/or location of at least one delimiting structure which causes a kinematic delimitation of the work space that can be reached by an instrument connected to a robotic arm of the telemanipulation robot; and continuously representing the reachable work space on an object to be manipulated by the instrument in such a way that a change in the position and/or location of the delimiting structure results, in real time, in a change of the represented reachable work space. | 05-14-2015 |
20150148958 | Method and Apparatus for Failure Handling of a Robot - A method and apparatus for failure handling of a robot having at least a first and a second movement axis are disclosed. In one embodiment the method includes receiving a first position information of the first movement axis for a first point of time and a first position information of the second movement axis for the first point of time and storing the received first position information as a motion data set, receiving a second position information of the first movement axis for a second point of time and a second position information of the second movement axis for the second point of time and storing the received second position information in the motion data set and controlling the robot according to a failure procedure. | 05-28-2015 |
20150306767 | MOTION LIMITING DEVICE AND MOTION LIMITING METHOD - A motion limiting device includes: detection means that detects environmental information around a robot; generation means that generates, based on the environmental information detected by the detection means, a three-dimensional environment model that includes an unobservable area and an observable area and indicates a working environment in which the robot operates, the unobservable area being the area where the environmental information cannot be detected by the detection means, and the observable area being the area where the environmental information can be detected by the detection means; and limiting means that limits a motion of the robot when it is determined that the robot has entered the unobservable area based on the three-dimensional environment model generated by the generation means. | 10-29-2015 |
20150306770 | DETACHABLE ROBOTIC ARM HAVING INTERFERENCE DETECTION SYSTEM - Robotic arm system having a robotic arm system configured to detachably couple to a structure. The robotic arm system can have a base, an arm assembly, at least one power source and a manipulator. The arm can include a lower arm and an upper arm. The lower arm can be rotatably coupled to the base at a first end end and rotatably coupled to the upper arm at an opposing end. The upper arm can be coupled to the manipulator at an end opposite to the lower arm. The base can include at least one electric motor configured to rotate the lower arm in relation to the base. The lower arm can be coupled to at least one electric motor configured to rotate the upper arm in relation to the lower arm. The manipulator can include at least one electric motor configured to actuate the manipulator. | 10-29-2015 |
20150328776 | INTERFERENCE CHECK DEVICE - An interference check device includes a model-number upper-limit input unit to which a model upper-limit number of geometric models allocated to a modeling target being a target of interference check is input, a modeling unit generating model candidates from the modeling target using geometric models equal to or less than the model upper limit number, a processing-computation-amount upper-limit setting unit setting a computation upper-limit amount of interference check based on a computation processing amount required for each process performed by a controller controlling the modeling target, a minimum-enclosure-volume-model determination unit determining a model candidate having smallest model enclosure volume as a model for the modeling target from the model candidates that can perform calculation processing of interference check with equal to or less than the computation upper-limit amount, and an interference check unit performing interference check between models using determined model. | 11-19-2015 |
20160008979 | METHOD FOR CHECKING A ROBOT PATH | 01-14-2016 |
20160016315 | VIRTUAL SAFETY CAGES FOR ROBOTIC DEVICES - Methods and systems for determining and presenting virtual safety cages are provided. An example method may involve receiving an instruction for a robotic device to perform a physical action in a physical environment occupied by the robotic device. The method may also involve, responsive to receiving the instruction, and based on one or more parameters of one or more physical components of the robotic device, determining one or more estimated trajectories along which the one or more physical components of the robotic device are estimated to move as the robotic device performs the physical action. The method may further involve, based on the one or more estimated trajectories, determining a virtual representation of a space that the robotic device is estimated to occupy in the physical environment while performing the physical action. The method may then involve providing, into the physical environment, an indication of a location of the space. | 01-21-2016 |
20160031083 | METHOD AND APPARATUS FOR INDUSTRIAL ROBOTIC ENERGY SAVING OPTIMIZATION USING FLY-BY - Methods for optimizing energy savings and reducing cycle time for mutating an industrial robotic path when a collision is detected. A method includes initializing a plurality of clone paths where a collision was detected, wherein a clone path is a clone of the initial path and the initial path comprises a source location, a plurality of intermediate locations, and a target location; for each clone path, determining a candidate path to store in a population, determining an optimal breed comprising the candidate path with an optimal rating, wherein the optimal rating is determined by the lowest breed rating in the population, and returning the optimal breed. | 02-04-2016 |
20160046022 | METHOD AND APPARATUS FOR AUTOMATIC AND EFFICIENT LOCATION GENERATION FOR COOPERATIVE MOTION - Methods for automatic and efficient location generation for cooperative motion. A method includes receiving a cooperative operation comprising a master operation and the slave operation, simulating the slave operation to obtain a slave duration between consecutive slave locations and a trajectory time to perform the slave operation, populating a plurality of potential locations along the master trajectory, generating a plurality of candidate operations in a population, for each of the plurality of candidate operations in the population, simulating a candidate operation with the slave operation to calculate an efficiency factor to perform the candidate operation and removing the candidate operation from the population when the efficiency factor is not better compared to other candidate operations in the population and returning the candidate operation remaining in the population. | 02-18-2016 |
20160075023 | ROBOT MOTION REPLANNING BASED ON USER MOTION - The disclosure includes a system and method for determining a robot path based on user motion by determining a current position of a robot with a processor-based computing device programmed to perform the determining, receiving sensor readings on positions, directions, and velocities of a visually-impaired user and other users, generating a model of the motions of the visually-impaired user and the other users, the model including a user path for the visually-impaired user and a robot path for the robot, generating a collision prediction map to predict collisions between at least one of the robot, the visually-impaired user, and the other users, determining whether there is a risk of collision for either the visually-impaired user or the robot, and responsive to the risk of collision, updating at least one of the user path and the robot path. | 03-17-2016 |
20160075025 | ROBOT SYSTEM FOR SETTING MOTION MONITORING RANGE OF ROBOT - A robot system includes a display portion which displays a robot model and a peripheral device model, a deployment portion which deploys a motion monitoring range model of the robot on the display portion, a positioning portion which moves and positions the motion monitoring range model, and a setting portion which converts a range surrounded by the positioned motion monitoring range model in the display portion into coordinate values which can be recognized by the robot to set the motion monitoring range. | 03-17-2016 |
20160075026 | ANTICIPATORY ROBOT NAVIGATION - The disclosure includes a system and method for using a robot to simulate user motions by detecting a user, estimating a first position and orientation of the user, determining a current position of the robot, generating an initial path from the current position of the robot to a goal position based on whether the robot affects the user while travelling on the initial path, determining whether the user will traverse in response to the robot when the robot travels on the initial path, responsive to the user traversing in response to the robot, estimating a second position where the user will move when the robot is near, and generating a new path from the current position of the robot to the goal position. | 03-17-2016 |
20160082589 | APPARATUS AND METHOD FOR ENABLING RAPID CONFIGURATION AND RECONFIGURATION OF A ROBOTIC ASSEMBLAGE - Modular components form a robotic assembly, the mod-components include modules and tools, each have a set of functions and capabilities, are rapidly configured-reconfigured to function cooperatively, creating a configurable robotic assemblage. Each mod-component incorporates a standardized connector mating with any other standardized connector in an interchangeable manner providing mechanical stability, power, and signals therebetween. Each mod-component incorporates a processor, data storage for mod-component identity, status, and programmable functionality, and for responding to commands. Storage is reprogrammed while the robot is operational, altering both commands and responses. After interconnection, inter-module power and communication are established and each modular component identifies itself and its functionality, thereby providing “plug and play” configuration. | 03-24-2016 |
20160082593 | ROBOT CONTROLLER FOR AVOIDING PROBLEM REGARDING ROBOT AT THE TIME OF EMERGENCY STOP - A robot controller having a function for mitigating damage to a robot when the robot is brought to an emergency stop, and for facilitating restoration of the robot from the emergency stop. The robot controller has a controlling part which controls a motion of a robot based on a predetermined robot program; a first detecting part which detects a predetermined abnormality which does not require the robot to be immediately stopped; a stopping condition judging part which judges as to whether or not a predetermined stopping condition is satisfied when the first detecting part detects the abnormality; and a stopping process executing part which executes a stopping process of the robot when the stopping condition is satisfied, and does not execute the stopping process when the stopping condition is not satisfied. | 03-24-2016 |
20160082596 | MOBILE MEDICAL APPARATUS - A mobile medical apparatus contains a movement device for a moving the entire apparatus. The mobile medical apparatus has a detection device for detecting the movement of the apparatus, a storage device for storing information describing the movement of the apparatus, and a control interface for inputting a control command to the apparatus for repeating a movement in accordance with information describing the movement of the apparatus. | 03-24-2016 |
20160089790 | HUMAN-COLLABORATIVE ROBOT SYSTEM - A human-collaborative robot system includes a detection unit that directly or indirectly detects a physical quantity which is changed in response to contact force applied to a robot when the robot comes in contact with an external environment, and a stop command unit that compares the physical quantity detected by the detection unit with a first threshold value and a second threshold value greater than the first threshold value, stops the robot according to a predetermined stop method when the physical quantity is equal to or greater than the first threshold value and is smaller than the second threshold value, and stops the robot in a shorter period of time as compared with the predetermined stop method when the physical quantity is equal to or greater than the second threshold value. | 03-31-2016 |
20160107313 | DYNAMIC OBSTACLE AVOIDANCE IN A ROBOTIC SYSTEM - A robotic system includes an end-effector, an input device, and a controller. The input device is operable for collecting data defining a position and a velocity of a dynamic obstacle in an environment of the end-effector. The dynamic obstacle has an arbitrary shape. The controller is in communication with the end-effector and is programmed to execute a method and thereby receive a set of inputs via the input device, including the position and velocity of the dynamic obstacle. The controller computes a contour function defining the closest allowed distance and direction between the end-effector and the dynamic obstacle using the Gilbert-Johnson-Keerthi algorithm, and controls the end-effector via an output command to thereby avoid contact between the end-effector and the dynamic obstacle. | 04-21-2016 |
20160129594 | HUMAN-CENTRIC ROBOT WITH NONCONTACT MEASUREMENT DEVICE - A system measuring an object with a human-centric robot is provided. The robot including a movable end effector having a coupler, the robot including a plurality of transducers arranged to transmit signals to an electronic circuit, the electronic circuit configured in operation to determine the position and orientation of the end effector. At least one tool is provided having a first gripping portion, the gripping portion being sized and shaped to removably couple to the coupler. A three-dimensional (3D) scanner is provided that is configured in operation to determine three-dimensional coordinates of a surface of an object, the 3D scanner having a second gripping portion sized and shaped to removably couple to the coupler. A controller is configured to selectively couple one of the at least one tool or the 3D scanner to the coupler in response to an object signal. | 05-12-2016 |
20160129595 | INDUSTRIAL ROBOT AND A METHOD FOR CONTROLLING AN INDUSTRIAL ROBOT - An industrial robot and control system including a high degree of cooperation between a human operator and the robot for increased safety. In an automatic operation mode, at least a first detection device detects the presence of a foreign body in the robot working area and the control system places the robot in a safe automatic operating mode. A second and third detection devices may be employed to detect possible impacts with the robot. | 05-12-2016 |
20160136815 | Closed-Loop Control System for Robotic Operation - Example systems and methods may allow for closed-loop control of robotic operation. One example method includes receiving input data that identifies data sources to monitor and indicates adjustments to make in response to deviations by at least one of the data sources from at least one predicted state during subsequent execution of sequences of operations by robotic devices, receiving data streams from the data sources during execution of the sequences of operations by the robotic devices, identifying a deviation by one of the data sources from a predicted state for which the received input data indicates adjustments to the sequences of operations for the robotic devices, providing instructions to the robotic devices to execute the adjusted sequences of operations, and providing instructions to a second computing device to update a visual simulation of the robotic devices based on the adjusted sequences of operations. | 05-19-2016 |
20160144504 | SPECIFIABLE MOBILITY FOR A ROBOTIC DEVICE - A robotic device includes a kinematic chain of a plurality of components, movable relative to each other; a sensor device configured to capture a force and/or moment exerted on at least one of the mobile components; a control device configured to control a movement of the at least one of the mobile components, in the direction of the force that is exerted, as a function of the force captured by the control device and/or of the moment captured by the control device; and a first capture device coupled to the control device and provided for the purpose of contactlessly capturing an operating action of an operator. In a normal operating mode, the control device is configured to specify a mobility of at least one of the mobile components as a function of the captured operating action, improving accuracy and reliability of the device in interaction with a human operator. | 05-26-2016 |
20160158936 | COLLISION AVOIDANCE METHOD, CONTROL DEVICE, AND PROGRAM - A collision avoidance method according to the present invention avoids collision of a robot arm | 06-09-2016 |
20160167231 | HUMAN-INTERACTIVE TYPE ROBOT SYSTEM | 06-16-2016 |
20160176052 | ROBOT CONTROL DEVICE FOR STOPPING ROBOT BY DETECTING CONTACT FORCE WITH PERSON | 06-23-2016 |
20160202702 | Conflict Resolution Based on Object Behavioral Determination and Collaborative Relative Positioning | 07-14-2016 |
20160375582 | INTERFERENCE CHECK SYSTEM FOR MACHINE TOOL AND ROBOT - A numerical controller and a robot controller share interpolation level move data obtained by recording position information for each interpolation period of a robot in association with an index. Based on the interpolation level move data, a preceding position of the robot after the passage of a time (lead time) for calculating a next preceding position since a reference time for interference check is calculated. And, based on the robot preceding position and a preceding position (machine preceding-position) of an axis of the machine after the passage of the lead time, interference between a machine and the robot is checked. | 12-29-2016 |
20160375592 | APPARATUS AND METHODS FOR SAFE NAVIGATION OF ROBOTIC DEVICES - Apparatus and methods for navigation of a robotic device configured to operate in an environment comprising objects and/or persons. Location of objects and/or persons may changed prior and/or during operation of the robot. In one embodiment, a bistatic sensor comprises a transmitter and a receiver. The receiver may be spatially displaced from the transmitter. The transmitter may project a pattern on a surface in the direction of robot movement. In one variant, the pattern comprises an encoded portion and an information portion. The information portion may be used to communicate information related to robot movement to one or more persons. The encoded portion may be used to determine presence of one or more object in the path of the robot. The receiver may sample a reflected pattern and compare it with the transmitted pattern. Based on a similarity measure breaching a threshold, indication of object present may be produced. | 12-29-2016 |
20220134559 | METHOD AND APPARATUS FOR MOTION PLANNING OF ROBOT, METHOD AND APPARATUS FOR PATH PLANNING OF ROBOT, AND METHOD AND APPARATUS FOR GRASPING OF ROBOT - The present disclosure discloses a method and apparatus for motion planning of a robot, a method and apparatus for path planning of a robot, and a method and apparatus for grasping of a robot. The method includes: when the robot operates on an object to be operated, performing, in combination with a space model of a real scene where the object is located, collision detection on the object and a collision subject in the space model; and determining a motion planning scheme for the robot corresponding to a result of the collision detection based on collision sensitivity of the object and collision sensitivity of the collision subject, the motion planning scheme being formed by the robot operating on the object. | 05-05-2022 |