Abstract: A robot instructing apparatus for a robot having an end effector includes a teaching pendant, and orientation device, and at least one processor. The orientation device is configured to output an orientation of the teaching pendant based on an angular position of the teaching pendant about a vertical axis. The at least one processor is configured to generate movement instructions to move the robot during one or more teaching operations. The at least one processor is configured to generate the movement instructions in a translation teaching mode in which a translational change of the end effector, in response to the movement instructions, corresponds to an input direction input to the teaching pendant by a user relative to the orientation of the teaching pendant.

Abstract: A robot instructing apparatus includes a teaching pendant having a display and an inclination device. The inclination device outputs an inclination of the teaching pendant based on the inclination of the teaching pendant about at least one horizontal axis. The robot instructing apparatus also includes at least one processor that generates movement instructions to change a posture of the robot based on the inclination of the teaching pendant output by the inclination device during a teaching operation in which the movement instructions are generated.

Abstract: A robot instructing apparatus includes a teaching pendant having a display and an inclination device. The inclination device outputs an inclination of the teaching pendant based on the inclination of the teaching pendant about at least one horizontal axis. The robot instructing apparatus also includes at least one processor that generates movement instructions to change a posture of the robot based on the inclination of the teaching pendant output by the inclination device during a teaching operation in which the movement instructions are generated.

Abstract: A method and apparatus for controlling an industrial robot relative to an intuitive motion coordinate system. The current 3D position of a touch-screen teach pendant relative to the robot is sensed, and an operator-centric frame of reference is developed relative to the robot-centric frame of reference. A simulacra of the robot is generated, oriented so as to correspond with an operator view of the robot from the current position of the controller, and displayed on the pendant. A motion-control construction, generated and displayed on the pendant, is adapted to receive jog commands from the operator indicative of a respective incremental movement of the simulacra in the operator-centric frame of reference. Each jog command is transformed from the operator-centric frame of reference to the robot-centric frame of reference, and the robot moved in accordance with the transformed jog command.

Abstract: A device including a housing configured to attach to a robot arm, and a multi-axis motion sensor provided within the housing. The multi-axis motion sensor is configured to detect movement of the housing, and is configured to communicate with a controller of the robot arm. The device further includes a user interface configured to operate in conjunction with the multi-axis motion sensor, and a connection port provided on the housing. The connection port is configured to connect to an external device.

Abstract: A programmable logic controller controls at least one robot to manipulate a plurality of workpieces. The programmable logic controller includes a sensor interface configured to receive sensor data that represents information of the workpieces. The programmable logic controller includes a scheduler configured to create a schedule that includes information representing an order in which the workpieces are to be manipulated. The schedule created by the scheduler is based on the sensor data. The programmable logic controller includes a synchronizer that is configured to receive the schedule. The synchronizer is configured to cause a robot to manipulate the workpieces based on the schedule and based on a function block. The function block is configured via the programmable logic controller.

Abstract: A device including a housing configured to attach to a robot arm, and a multi-axis motion sensor provided within the housing. The multi-axis motion sensor is configured to detect movement of the housing, and is configured to communicate with a controller of the robot arm. The device further includes a user interface configured to operate in conjunction with the multi-axis motion sensor, and a connection port provided on the housing. The connection port is configured to connect to an external device.

Abstract: A method and apparatus for controlling an industrial robot relative to an intuitive motion coordinate system. The current 3D position of a touch-screen teach pendant relative to the robot is sensed, and an operator-centric frame of reference is developed relative to the robot-centric frame of reference. A simulacra of the robot is generated, oriented so as to correspond with an operator view of the robot from the current position of the controller, and displayed on the pendant. A motion-control construction, generated and displayed on the pendant, is adapted to receive jog commands from the operator indicative of a respective incremental movement of the simulacra in the operator-centric frame of reference. Each jog command is transformed from the operator-centric frame of reference to the robot-centric frame of reference, and the robot moved in accordance with the transformed jog command.

Abstract: 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.

Abstract: In an automated system which includes a robot manipulator, a workcell, and a control system implemented on a hardware platform based on a programmable logic controller (“PLC”), a method and apparatus for performing integrated simulation that does not require the presence of both the robot manipulator and the workcell. If one component is real, the other component is simulated so as to be sufficiently responsive to responses from the real component such that the real component is unable to discern that the other component is not also real. A computing device simultaneously displays simulacra of both the components, real and simulated, and visualizations of the responses provided by each.

Abstract: An improved method to model and program a robotic workcell. Two-dimensional (2D) images of a physical workcell are captured to facilitate, in part, initial integration of any preexisting three-dimensional (3D) component models into a 3D model workcell. 3D models of other essential workcell components are synthesized and integrated into the 3D workcell model. The robot is then configured and programmed. The resultant 3D workcell model more faithfully reflects the “as-built” workcell than a traditional model that represents the “as-designed” workcell.

Abstract: External beam radiotherapy treatment workflow scheduling and optimization. The system and method provides for determining a workflow metamodel, receiving a treatment plan, determining a treatment schedule corresponding to the workflow metamodel and treatment plan, taking into account safety by determining alternative treatment schedules, computing a safety index, and selecting one alternative treatment schedule that satisfies a safety threshold and that provides an optimal schedule.

Abstract: In an automated system which includes a robot manipulator, a workcell, and a control system implemented on a hardware platform based on a programmable logic controller (“PLC”), a method and apparatus for performing integrated simulation that does not require the presence of both the robot manipulator and the workcell. If one component is real, the other component is simulated so as to be sufficiently responsive to responses from the real component such that the real component is unable to discern that the other component is not also real. A computing device simultaneously displays simulacra of both the components, real and simulated, and visualizations of the responses provided by each.

Abstract: 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.

Abstract: External beam radiotherapy treatment workflow scheduling and optimization. The system and method provides for determining a workflow metamodel, receiving a treatment plan, determining a treatment schedule corresponding to the workflow metamodel and treatment plan, taking into account saftety by determining alternative treatment schedules, computing a safety index, and selecting one alternative treatment schedule that satisfies a safety threshold and that provides an optimal schedule.