Abstract: A screw driving machine includes a contact portion movable from a first position to a second position via a third position by abutting against a driven member to press against the driven member, a driving portion moving a driver bit when the contact portion reaches the third position to drive a screw into the driven member, a tightening portion causing the driver bit to rotate about an axis and tighten the screw after the screw is driven, a tightening depth switching portion switching a tightening depth of the screw by the tightening portion after the screw is driven, a driving depth regulating portion regulating a movement amount of the contact portion between the second position and the third position, and a driving depth switching portion switching whether to regulate the movement amount of the contact portion by the driving depth regulating portion.

Abstract: A screw driving machine includes a driving piston to which a driver bit is attachable, a driving cylinder partitioned into a first chamber and a second chamber by the driving piston and moving the driver bit when compressed air is supplied to the second chamber, an air motor rotating the driver bit by the compressed air, an air flow path communicating the second chamber and the air motor, a main chamber storing the compressed air and communicating with the air flow path, and a main valve opening and closing communication between the air flow path and the main chamber. The driving cylinder has a supply port communicating the air flow path and the second chamber. A throttle portion is disposed to be displaceable on an outer periphery of the driving cylinder to change an opening area of the supply port.

Abstract: A wrench comprises a handle, a tube, an actuating-part and a scale mark area; the handle comprises a hollow rotation handle, a movable plug, a screw rod drive component and a locking component, an end of the hollow rotation handle engages with a tail end portion of the scale mark area by rotation, the screw rod drive component comprises a rotary portion and a screw rod portion, and an adjusting threaded-sleeve is sleeved over the screw rod portion; a tube positioning piece engaging with the rotary portion by rotation is provided on the rotary portion; the locking component comprises a handle insert and positioning pins, the handle insert is installed on the rotary portion via a key and an outer surface of the handle insert is connected with an inner surface of the hollow rotation handle, and positioning pins are provided at a front end portion of the movable plug.

Abstract: A torque wrench includes a shank and a driving rod. The shank is provided with only one tripping seat therein. One end of the tripping seat is provided with a positioning recess and a restoring surface surrounding the positioning recess. The driving rod is pivotally inserted into the shank and movable between a ready position and a tripping position. One end of the driving rod is provided with an abutting portion having a spherical surface. The abutting portion abuts against the positioning recess when the driving rod is in the ready position. The abutting portion is separated from the positioning recess and abuts against the restoring surface when the driving rod is in the tripping position.

Abstract: A mini torque wrench has a tubular body. A rod body is pivotally connected to one end of the tubular body. The rod body is further connected to a trip mechanism. The trip mechanism is connected to an elastic member. An adjustment unit is disposed on the other end of the tubular body. The adjustment unit is connected to an operating member. When the operating member drives the adjustment unit to adjust the elastic force of the elastic member, the overall length of the mini torque wrench will not change, so as to keep the advantage of miniaturization of the mini torque wrench.

Abstract: A power tool includes a first illumination mechanism illuminating a region in front of an output shaft. The first illumination mechanism includes an illumination element generating light for illumination, where the illumination element is mounted in a mounting groove formed by the front end of the first housing; and a lampshade covering at least the front of the illumination element, where part of the lampshade located in front of the illumination element is light-transmissive material, and the lampshade is detachably mounted on the first housing. The illumination mechanism is convenient for replacement.

Abstract: A method includes placing a tube at an initial position. The method also includes positioning one or more clips into the tube. The method further includes placing one or more attachments onto the one or more clips. The method also includes identifying one or more areas to move the one or more clips with the one or more attachments. The method also includes placing the one or more clips with the one or more attachments onto the one or more identified areas.

Abstract: A handheld tool includes a nose portion having an injection passage for a fastener, a magazine accommodating the fastener and located in a direction intersecting with the injection passage, a magazine cap portion opening and closing the magazine by a tip portion rotating in a direction separating from and approaching the magazine with a base end portion as a fulcrum, and a door portion rotatably coupled to the tip portion via a coupling shaft. The nose portion includes an engaging portion engageable with the door portion. The door portion is configured to, in a state where the magazine cap portion is opened, bent toward the magazine with the coupling shaft as a fulcrum, and in a state where the magazine cap portion is closed, extend linearly and engage with the engaging portion.

Abstract: A handheld tool includes a magazine accommodating a plurality of fasteners coupled by a coupling band, a lid portion opening and closing the magazine, a nose portion having an injection passage and an injection port, a supply passage connecting the injection passage and the magazine for feeding the fasteners coupled by the coupling band to the injection passage; and a driver bit separating the fasteners of the injection passage from the coupling band and driving the fasteners toward the injection port. The nose portion has a discharge port for discharging the coupling band from which the fasteners are separated. The injection passage and the discharge port have an opening portion on a lateral side perpendicular to the extending direction of the injection passage, and the lid portion exposes and covers the opening portion.

Abstract: A powered fastener driver includes a housing, a nosepiece coupled to the housing, a driver blade movable within the nosepiece between a ready position and a driven position, a canister magazine coupled to the nosepiece and including collated fasteners arranged in a coil, and a pusher mechanism coupled to the nosepiece for individually transferring collated fasteners from the canister magazine to a driver channel in the nosepiece, wherein the pusher mechanism includes: a linkage assembly having a support arm, a finger pivotably coupled to the support arm, a lever pivotably coupled to the support arm via and a fork pivotably coupled to the lever via a second fixed pivot, and a feeder arm engaged with the fork. The feeder arm pushes fasteners into the driver channel as the pusher mechanism is actuated by the impact of the driver blade during a retraction stroke of the driver blade.

Abstract: A driving device for a nail gun includes a striking unit and an air storage unit. The striking unit includes a striking cylinder connected to the nail gun and defining a cylinder chamber having an opening, and a piston disposed in and making an air-tight contact with the striking cylinder. The air storage unit includes an air storage cylinder including a protrusion that protrudes toward the opening and cooperating with the striking cylinder to define an air storage chamber that is in fluid communication with the cylinder chamber via the opening. When the piston moves in a pressure-generating direction, air in the air storage chamber is pressurized. The air storage unit further includes a lubricant disposed in the cylinder chamber and the air storage chamber, and flowing along the protrusion into the cylinder chamber to lubricate the piston.

Abstract: A fastener driver includes an outer cylinder having a cylindrical first end and an opposite, second end, an inner cylinder positioned within the outer cylinder, a moveable piston positioned within the inner cylinder, and a driver blade attached to the piston and movable therewith between a top-dead-center position and a bottom-dead-center position along a drive axis. The outer cylinder defining a longitudinal axis and a storage chamber configured to be filled with pressurized gas. The inner cylinder being in communication with the pressurized gas within the storage chamber. A frame has first end adjacent the cylindrical first end of the outer cylinder and a second end extending outward from the cylindrical first end of the outer cylinder in the direction of the longitudinal axis. The frame is integrally formed with the outer cylinder as a single piece and a nosepiece supported by the frame.

Abstract: A base material is subjected to a low-temperature tempering treatment at a temperature equal to or less than 300° C. After the tempering treatment, a coating is applied to the base material by a sputtering method.

Abstract: A fastener driver includes a magazine configured to receive fasteners, a nosepiece including a fastener driving channel from which consecutive fasteners from the magazine are driven, and a workpiece contact element movable relative to the nosepiece between an extended position and a retracted position. A portion of the workpiece contact element is slidably positioned within the fastener driving channel. The portion of the workpiece contact element having an aperture extending therethrough in which the fasteners pass from the magazine through the aperture into the fastener driving channel of the nosepiece to be fired. The portion of the workpiece contact element further includes a guide assembly positioned thereon. The guide assembly configured to guide the fastener along the portion of the workpiece contact element within the fastener driving channel as the fastener is being fired into a workpiece.

Abstract: A powered fastener driver including a housing, an inner cylinder within the housing, and a piston movable within the inner cylinder from a TDC position to a BDC position. The piston has a diameter of less than 1.7 inches. A stroke length of the piston is between the TDC position and the BDC position measuring greater than 3 inches. A driver blade is attached to the piston for movement therewith along a driving axis. A lifter is operable to move the piston and driver blade from the BDC position toward the TDC position. A drive unit is operably coupled to the lifter to provide torque thereto, causing the lifter to rotate. A source of pressurized gas is in fluid communication with the inner cylinder. A pressure of the pressurized gas acting on the piston at the TDC position is greater than 180 psi.

Abstract: A power tool that includes a housing, a motor, an end effector, an electrostatic clutch assembly, and a control circuit is provided. In a first mode of operation, the control circuit causes a first voltage to be applied to a first electrode and a different second voltage to be applied to a second electrode, generating a first attractive force between the first and second electrodes, which causes an output member to rotate together with an input member when a torque on the output member is less than or equal to a first threshold value and which causes the output member to rotationally slip relative to the input member when the torque on the output member exceeds the first threshold value, interrupting torque transmission from the input member to the output member.

Abstract: An extender handle configured to securely hold a removable scrubber device includes a connector portion having a first surface being configured to receive a back surface of the scrubber device. The back surface is opposite to the front surface of the scrubber device. A protrusion disposed on the first surface has a shape configured to fit through a scrubber gap. The connector portion has a bridge extending across from a first edge of the connector portion to a second edge of the connector portion. The bridge includes ridges extending away from the second surface and along opposing edges of the bridge. The bridge is configured to receive a strap of the scrubber device between the ridges extending along the opposing edges of the bridge. The extender handle also includes a handle portion extending away from a third edge of the connector portion.

Abstract: This disclosure describes a knife having tool-less removable scales. The knife includes a blade having a cutting edge and a tang having one or more apertures formed therein; a first scale removably coupled to a second scale, the first and second scales releasably coupled to each other through the one or more apertures and positioned on either side of the tang, the first scale comprising a scale release actuator that is biased at least partially through an opening in the second scale such that the second and first scales are locked together until the scale release actuator is depressed. The disclosure also describes a knife sheath with a rotatable clip that can be rotated by releasing two halves of a compression bracket, moving a first half of the compression bracket away from the sheath, and rotating the clip once a toothed engagement is disengaged.

Abstract: Disclosed is a foldable workbench (100) with a simple push and pull mechanism for opening and closing of legs without compromising on quick opening and folding performance. The leg opening and closing mechanism of workbench (100) is provided without rack and pinion gears, belt and pulley system or complex linkages with bearings, etc. A simple pulling and pushing action of a handle extends and retracts the first and second pair of legs (20A, 20B) to open and close.

Abstract: Systems and methods are provided for delivering a work part to an assembly line worker using a dolly assembly in a first configuration and retrieving the work part from the dolly assembly by the assembly line work while the dolly assembly is in a second configuration. According to some embodiments, a dolly assembly is provided comprising a base assembly having a support member and a mobility mechanism, the support member positioned obliquely with respect to a horizontal plane. The dolly assembly also includes a part-carrying member rotationally connected to the support member and having a part-holding structure for receiving a work part. The part-carrying member extends downward at an angle below the horizontal plane when in a first configuration, and extends upward from at an angle above the horizontal plane when in a second configuration.

Abstract: A hydraulic tool storage device positions a hydraulic tool in a manner that prevents damage to seals contained within the tool. The storage device can take the form of a tool stand that provides ready access to the hydraulic tool for mating with equipment that may utilize the tool and provides a stable platform for storage or transport of the hydraulic tool. As an example, such hydraulic tools can include hydraulic hammers.

Abstract: Provided is an industrial robot including a lifting mechanism which lifts and lowers an arm support member and a housing inside which the lifting mechanism is disposed, and an opening part for connecting the arm support member disposed outside the housing with the lifting mechanism is formed in a side face of the housing. In the industrial robot, even when dust generated inside the housing can be prevented from flowing out from the opening part, the cost can be reduced. In the industrial robot, the lifting mechanism which lifts and lowers the arm support member is disposed inside the housing. A side face of the housing is formed with the opening part for connecting the arm support member disposed outside the housing with the lifting mechanism disposed inside the housing, and the arm support member is fixed with the flat plate-shaped cover members and for closing the opening part.

Abstract: An inspection robot includes wheels or treads attached to sides of a chassis and extending below the chassis. One or more rollers may be in the chassis may extend from the underside of the chassis but do not extend to a plane defined by the bottoms of the wheels or treads. A drive system can rotate the wheels or treads and the rollers. In particular, rotation of the rollers may move the robot when the chassis bottoms out, for example, when the robot traverses the peak of a roof or traverses any projection in terrain that the robot may need to navigate.

Abstract: Disclosed are a rotating wheel apparatus, a driving wheel and a robot. The rotating wheel apparatus includes: a rotating assembly, a bearing and a supporting base. The rotating assembly is provided with an accommodating groove. The bearing is accommodated in the accommodating groove and connected to the rotating assembly. The supporting base is close to a notch of the accommodating groove, the supporting base is connected to the bearing, so that the rotating assembly is rotationally connected to the supporting base.

Abstract: Devices and systems for performing an operation are provided. The system comprises a mobile platform comprising a frame having side supports and a rear support, side wheel assemblies coupled to the side supports, and a rear wheel assembly coupled to the rear support. The wheel assemblies each comprise wheels and a wheel frame, the wheel frame being pivotally connected to the side and rear supports. The system further comprises a first control system for controlling movement of the mobile platform and a manipulator element coupled to the mobile platform. The manipulator element is configured to removably connect to the mobile platform and to perform an operation. The manipulator element comprises a second control system for controlling the operation. The first control system and the second control system are configured to communicate to cause the mobile platform to move and to cause the manipulator element to perform the operation.

Abstract: A robot system and a method for driving a robot capable of moving the position of the center of gravity of the robot while minimizing the increase in the footprint thereof are provided. A robot system according to an aspect of the present disclosure includes a robot. The robot includes a movable moving part, an upper body part disposed above the moving part, and a driving mechanism for tilting the upper body part and moving a lower end of the upper body part in a direction in which the upper body part is tilted.

Abstract: An overspray-free paint system includes: a paint robot including an overspray-free paint applicator; and a first fixture robot for lifting and orienting a fixture assembly relative to at least one of the paint robot and the overspray-free paint applicator, the fixture assembly configured to hold an object to be painted by the overspray-free paint applicator, the first fixture robot including a first gripper configured to grab a first portion of the fixture assembly, and the first fixture robot configured to lift and orient the fixture assembly via the first gripper.

Abstract: A robot mounting base for an industrial robot includes a mounting base main body having a top surface on which the industrial robot is disposed. The robot mounting base allows the industrial robot to work on a machine tool in an installation state close to an outer surface of the machine tool. A cutoff portion is formed at least at one end portion in the mounting base main body in a horizontal direction along the outer surface in the installation state, and the cutoff portion positions so that a surface on the machine tool side is away from the machine tool with respect to another end portion.

Abstract: An installation for handling and storing biological samples at very low temperatures includes a cartesian robot and an articulated-arm robot having at least five degrees of freedom. A biobank which uses, working jointly, a five-axis or six-axis or seven-axis robot supported by a cartesian robot which moves the five-axis or six-axis robot translationally along at least one row of storage containers, advantageously cryogenic containers each incorporating storage columns or racks with a honeycomb structure, of which the cells are able to house individual sample containers.

Abstract: A robot configured to recognize and pick up at least one predetermined object, the robot being configured in such a manner that the predetermined object is recognized and picked up in a work space below the robot. The robot may have an end effector and an adjusting unit for picking up the predetermined object. The end effector and the adjusting unit are disposed in the work space below the robot.

Abstract: A robot includes: a drive link; two parallel passive links coupled to the drive link; and a support mechanism having two shafts. Each shaft is fixed to each of the passive links so that each shaft is engaged with a through-hole at an intermediate position of each of the passive links along a longitudinal axis thereof, and an auxiliary link rotatably attached to the shafts by bearings in which the shafts engage. The through-hole is formed in a direction that is orthogonal to a plane including the longitudinal axis. Each shaft includes a first shaft section engaged with the through-hole and abutting on one end surface, a second shaft section engaged with the through-hole and abutting on another end surface, and a fastening section applying a force in a direction that causes the first shaft section and the second shaft section to approach each other within the through-hole.

Abstract: A parallel link robot includes a base, a movable member, and multiple arms that connect the base and the movable member in parallel. Each of the arms includes: a drive link that is rotationally driven by a motor in the base; two parallel passive links that couple the drive link and the movable member; ball joints between the drive link and the corresponding passive link and between the movable member and the corresponding passive link; and attachment mechanisms that detachably attach the ball joints to the corresponding drive link or the movable member. Each ball joint includes a ball and a fixed part integral with the ball. At least one of the attachment mechanisms includes: a first screw hole in the fixed part; a second through-hole in the drive link or the movable member; and a screw member that is fastened to the first screw hole through the second through-hole.

Abstract: A tool drive device including a motor, a movable part driven by the motor to move a tool, and a bracket used to attach the motor and the movable part to a flange at a wrist tip of a robot. The bracket includes a plate-like first attachment part that is attached to the flange and a plate-like second attachment part to which the motor and the movable part are attached. The movable part is disposed on the opposite side from the flange with the first attachment part therebetween in the plate thickness direction thereof and on the opposite side from the motor with the second attachment part therebetween in the plate thickness direction thereof. The first attachment part is provided with a wiring-body passage that guides a wiring body that has been wired through a hollow hole in the flange, to the motor without being exposed toward the movable part.

Abstract: A universal translator control system for remote control of a robot with a joystick. The system includes a calculation unit for storing translation logic, a control access interface unit electrically connected to the calculation unit, and a joystick which is operated to generate signals that have at least an X-coordinate value, X-direction rotation value, Y-coordinate value, Y-direction rotation value, Z-coordinate value, and Z-direction rotation value. Specifically, a robotic access interface unit is electrically connected to the calculation unit and the robot, whereby the translation logic in the calculation unit is used to translate the signals generated by the joystick as a translated X coordinate value, translated X-direction rotation value, translated Y coordinate value, translated Y-direction rotation value, translated Z coordinate value, and translated Z-direction rotation value, which are transmitted to the robot.

Abstract: Implementations utilize deep reinforcement learning to train a policy neural network that parameterizes a policy for determining a robotic action based on a current state. Some of those implementations collect experience data from multiple robots that operate simultaneously. Each robot generates instances of experience data during iterative performance of episodes that are each explorations of performing a task, and that are each guided based on the policy network and the current policy parameters for the policy network during the episode. The collected experience data is generated during the episodes and is used to train the policy network by iteratively updating policy parameters of the policy network based on a batch of collected experience data. Further, prior to performance of each of a plurality of episodes performed by the robots, the current updated policy parameters can be provided (or retrieved) for utilization in performance of the episode.

Abstract: A robot operating device includes a mobile vehicle, a guide rail installed on the mobile vehicle, and a plurality of robots slidably installed on the guide rail and movable along the guide rail. The mobile vehicles each include a mobile base having a roller at a bottom thereof, and a fixed bracket installed on the mobile base. The guide rail is fixedly installed on the fixed bracket and extends in a horizontal direction. The plurality of robots are adapted to manipulate a product manufacturing machine to manufacture products.

Abstract: The present invention relates to a parallel robot system, including: a control apparatus; a parallel robot, including a mounting base, a moving platform, and a driving apparatus arranged between the mounting base and the moving platform, where the driving apparatus is configured to drive the moving platform to make multi-degree-of-freedom movement relative to the mounting base, and the driving apparatus receives a control signal from the control apparatus; a tracer, arranged on the moving platform; a passive arm, where the mounting base of the parallel robot is connected to one end of the passive arm; and an optical positioning and tracking apparatus, configured to track a spatial position of the tracer in real time and to send spatial position data of the tracer to the control apparatus.

Abstract: A robotic controller is provided for generating sequences of movement primitives for sequential tasks of a robot having a manipulator. The controller includes at least one control processor, and a memory circuitry storing a dictionary including the movement primitives, a pretrained learning module, and a graph-search based planning module having instructions stored thereon.

Abstract: A robot system includes a robot, and an information processing portion. The information processing portion is configured to obtain a learned model by learning first force information about a force applied by a worker to a workpiece, first position information about a position of a first portion of the worker, and first workpiece information about a state of the workpiece, and control the robot on a basis of output data of the learned model.

Abstract: A robot arm control device is proposed. The robot arm control device may include a memory. The device may also include an acquisition unit acquiring an arbitrary target image, a virtual canvas image in which a virtual drawing operation of a robot arm for the target image is reflected, and a virtual nib image of the robot arm whose position is changed as the virtual drawing operation is reflected in the virtual canvas image. The device may further include a processor configured to input the target image to the pre-trained learning model, determine a position change amount of the virtual nib image in the virtual canvas image using the pre-trained learning model, and output a joint angle change amount for driving the robot arm on the basis of the position change amount.

Abstract: Movement of an object can occur while a control system corrects for compliance within a robotic system. The control system can include the object to be moved, the robotic system that moves the object, a primary sensor positioned on the object, at least one ancillary sensor positioned on the object, and a controller. The sensors can record position and orientation data at different points on the object. The controller can use a sensor data and a delta value to correct for compliance in the robotic system. The delta value can be based on the differences between the primary sensor and the at least one ancillary sensor. The compliance correction can be applied to poses of the object to modify the trajectory of the object for more accurate movements.

Abstract: A method for controlling a robotic arm that includes an end effector and a sensor that are mounted at an end of the robotic arm includes: obtaining, by the sensor, n gravity matrix data, wherein the n gravity matrix data are gravity matrix data of the end effector in an end coordinate system when the robotic arm is in a different poses, n?3; determining n rotation transformation matrices from a base coordinate system of the robotic arm to the end coordinate system when the robotic arm is in n different poses; calculating coordinates of a center of mass and mass of the end effector based on the n gravity matrix data and the a rotation transformation matrices; and controlling the robotic arm based on the coordinates of the center of mass and the mass.

Abstract: A method includes: storing, at a mobile robot, a local repository of self-assigned task definitions; determining, at a processor of the mobile robot, that a local activity metric associated with tasks assigned to the mobile robot by a central server meets an idle criterion; in response to determining that the local activity metric meets the idle criterion, selecting, by the processor, one of the self-assigned task definitions from the local repository; and initiating execution of a self-assigned task corresponding to the selected self-assigned task definition at the mobile robot.

Abstract: Systems, apparatuses and methods may provide for controlling one or more end effectors by generating a semantic labelled image based on image data, wherein the semantic labelled image is to identify a shape of an object and a semantic label of the object, associating a first set of actions with the object, and generating a plan based on an intersection of the first set of actions and a second set of actions to satisfy a command from a user through actuation of one or more end effectors, wherein the second set of actions are to be associated with the command

Abstract: Presented herein are embodiments of a two-stage methodology that integrates data-driven imitation learning and model-based trajectory optimization to generate optimal trajectories for autonomous excavators. In one or more embodiments, a deep neural network using demonstration data to mimic the operation patterns of human experts under various terrain states, including their geometry shape and material type. A stochastic trajectory optimization methodology is used to improve the trajectory generated by the neural network to ensure kinematics feasibility, improve smoothness, satisfy hard constraints, and achieve desired excavation volumes. Embodiments were tested on a Franka robot arm equipped with a bucket end-effector. Embodiments were also evaluated on different material types, such as sand and rigid blocks. Experimental results showed that embodiments of the two-stage methodology that comprises combining expert knowledge and model optimization increased the excavation weights by up to 24.

Abstract: Apparatuses, systems, and techniques to perform collision-free motion generation (e.g., to operate a real-world or virtual robot). In at least one embodiment, at least a portion of the collision-free motion generation is performed in parallel.

Abstract: A device includes an input reception unit that receives input of a parameter of a weaving signal, a signal generation unit that generates a weaving signal having the received parameter, a parameter acquisition unit that acquires, as a filtered parameter, the parameter of the weaving signal in a case where the weaving signal is subjected to filtering processing, a condition determination unit that determines whether or not the filtered parameter satisfies a predetermined condition, and a parameter adjustment unit that adjusts the received parameter if the filtered parameter is determined not to satisfy the predetermined condition. The signal generation unit generates a weaving signal having the parameter adjusted by the parameter adjustment unit.

Abstract: A system and method for operating a robotic system to dynamically adjust a planned trajectory or a planned implementation thereof is disclosed. The robotic system may derive updated waypoints to replace planned waypoints of the planned trajectory for implementing a task. Using the updated waypoints, the robotic system may implement the task differently than initially planned according to the planned trajectory.

Abstract: A mobile robot includes: a chassis supporting a locomotive assembly; a sensor; a processor configured, in a guided travel mode, to: detect an external force applied to the chassis in a first direction; control the sensor to capture sensor data corresponding to a physical environment of the mobile robot; detect, based on the sensor data, an operational constraint in the physical environment; determine, based on the detected operational constraint, a feedback force in a second direction opposite the first direction; and controlling the locomotive assembly according to the feedback force.

Abstract: A motion plan device 10X mainly includes a condition setting means 90X and a motion plan means 100X. The condition setting means 90X sets a first condition in which a robot performing a pick-and-place for one or more transport objects and the one or more transport objects are located inside movable region being a region where no collision with a collision avoidance necessary target occurs, and a second condition in which, while the robot is grasping and carrying the transport object, the movable region around the collision avoidance necessary target of the robot and the movable region around the collision avoidance necessary target of the transport object being carried match with each other. Next, the motion plan means 100X calculates a motion plan of the robot based on the first condition and the second condition.