Robot platforms, methods, and computer media are disclosed. The robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.

Autonomous navigation system and method

A robot includes a hazard sensor, a locomotor, and a system controller. The robot senses a hazard intensity at a location of the robot, moves to a new location in response to the hazard intensity, and autonomously repeats the sensing and moving to determine multiple hazard levels at multiple locations. The robot may also include a communicator to communicate the multiple hazard levels to a remote controller. The remote controller includes a communicator for sending user commands to the robot and receiving the hazard levels from the robot. A graphical user interface displays an environment map of the environment proximate the robot and a scale for indicating a hazard intensity. A hazard indicator corresponds to a robot position in the environment map and graphically indicates the hazard intensity at the robot position relative to the scale.

Robots, systems, and methods for hazard evaluation and visualization

Eine numerische Steuerungsvorrichtung (1) umfasst: eine Steuerungseinheit (102), welche die Bewegung von Achsen einer Werkzeugmaschine (3) mittels eines Positionsbefehls (103) entsprechend einem Bearbeitungsprogramm (101) steuert und Positionsinformationen bezuglich der Achsen erfasst; eine Uberwachungspunktbestimmungseinheit (111), die in Abhangigkeit von einer Art einer Anweisung oder einer Anweisung in Bezug auf eine im Bearbeitungsprogramm beschriebene Verfahrbewegung einen Uberwachungspunkt; den es zu uberwachen gilt, und eine Uberwachungsachse als die zu uberwachende Achse im Bearbeitungsprogramm festlegt; und eine Uberwachungseinheit (113), die anhand der Positionsinformationen (121) am Uberwachungspunkt der Uberwachungsachse uberwacht, ob ein Fehler oder eine Abweichung einen vorbestimmten Grenzwert uberschreitet, wobei die Steuerungseinheit die Bewegung der Achsen anhand des Uberwachungsergebnisses (125) der Uberwachungseinheit steuert, und die numerische Steuerungsvorrichtung ferner eine Analyseeinheit (115) umfasst, die basierend auf den Uberwachungsergebnissen darstellt, ob die Ursache des Fehlers oder der Abweichung ein mechanischer Faktor oder ein steuerungstechnischer Faktor ist, und das Analyseergebnis des Faktors an eine Ausgabeeinheit (116) ausgibt.

Numerical control device

Methods and system for controlling a plurality of robots (3104) through a single user interface (3200) includes at least one robot display window (3220) for each of the plurality of robots (3104) with the at least one robot display window illustrating one or more conditions of the respective one of the plurality of robots (3104). The user interface further includes at least one robot control window for each of the plurality of robots (3104) with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots (3104). The user interface further includes a multi-robot common window (3220) comprised of information received from each of the plurality of robots (3104).

Multi-robot control interface

Systems, methods, and user interfaces are used for controlling a robot. An environment map and a robot designator are presented to a user. The user may place, move, and modify task designators on the environment map. The task designators indicate a position in the environment map and indicate a task for the robot to achieve. A control intermediary links task designators with robot instructions issued to the robot. The control intermediary analyzes a relative position between the task designators and the robot. The control intermediary uses the analysis to determine a task-oriented autonomy level for the robot and communicates target achievement information to the robot. The target achievement information may include instructions for directly guiding the robot if the autonomy level indicates low robot initiative and may include instructions for directing the robot to determine a robot plan for achieving the task if the autonomy level indicates high robot initiative.

System and method for seamless task-directed autonomy for robots

The present invention involves a method of operating a motive body, where a target path is identified. The motive body is commanded to follow the target path from an initial position. The first actual position is sensed of the motive body after the commanding step. A first target subpath is calculated from the first actual position to correct for predictive errors in movement of the motive body. The actual position of the motive body is determined along each of a plurality of axes, and a multi-dimensional position error between the actual position of the motive body in each of the axes and a multi-dimensional reference trajectory is calculated. A multi-dimensional position error signal dependent upon the calculating step is determined. At least one of a speed and a direction of the motive body is established dependent upon the multi-dimensional position error signal.

Method of tolerance-based trajectory planning

The present invention relates to navigation of a path by a moving object, and to motion control systems for computer-controllable machine tools. There is provided a method of computing velocity limitations for a plurality of motion commands provided to a motion controller to cause an object to move along a trajectory. A look- ahead queue includes a plurality of motion commands. A first stop distance for the first motion command is calculated based on the distance between a first target point and a first virtual point beyond the first target point. A second stop distance for the second motion command is calculated based on the distance between a second target point and a second virtual point beyond the second target point. A computing device modifies a velocity limitation for the first motion command by reducing the first stop distance based on the second stop distance. The first motion command is then provided to the motion controller.

Method of performing additive lookahead for adaptive cutting feedrate control

The present invention relates to navigation of a path by a moving object, and to motion control systems for computer-controllable machine tools. There is provided a method of generating a trajectory for a body. Line segments included within the trajectory are identified and at least a portion of the line segments are compressed. Compression includes determination of a starting point of a first line segment, determination of an ending point of a second line segment, and replacement of the first line segment and the second line segment with a third line segment that begins at the starting point and ends at the ending point if various conditions are satisfied. At least two line segments are smoothed by converting them into a plurality of arcs which remain within a tolerance relative to the trajectory. The body is a cutting tool of a Computer Numerical Controllers (CNC) machine which is moved based on the plurality of arcs.

Method of curvature controlled data smoothing

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Method of tolerance-based trajectory planning

Method of performing additive lookahead for adaptive cutting feedrate control

Method of curvature controlled data smoothing