Control apparatus, work robot, non-transitory computer-readable medium, and control method

A control apparatus comprising:

• a non-transitory computer-readable storage medium configured, when the control apparatus is in communication with a robot having a manipulator for performing work inside a target region, to store information indicating at least one of a position, orientation, shape, or size of a first body within the target region, and to store trajectory information that represents a trajectory for movement of the manipulator within the target region based on the information indicating at least one of the position, orientation, shape, or size of the first body;
• and
• a processor configured to:
• acquire change information that indicates a change in the target region that occurred after calculation of the stored trajectory information;
• determine, based on the change information, whether the trajectory for movement of the manipulator needs correction due to the change in the target region;
• and
• in response to a determination that the trajectory needs correction due to the change inside the target region as indicated by the change information, determine, based on the change information, a new trajectory for movement of the manipulator in the target region.

A non-transitory computer-readable medium having instructions that, when executed by a processor, causes the processor to:

• acquire, when the processor is in communication with a robot having a manipulator for performing work inside a target region, information indicating at least one of a position, orientation, shape, or size of a first body within the target region, and trajectory information that represents a trajectory for movement of the manipulator within the target region based on the information indicating at least one of the position, orientation, shape, or size of the first body;
• acquire change information that occurred after calculation of the trajectory information;
• determine, based on the change information, whether the trajectory for movement of the manipulator needs correction due to the change in the target region;
• and
• in response to a determination that the trajectory needs correction due to the change inside the target region as indicated by the change information, determine, based on the change information, a new trajectory for movement of the manipulator in the target region.

A method for controlling operation of a robot having a manipulator for performing work inside a target region, comprising:

• storing information indicating at least one of a position, orientation, shape, or size of a first body within the target region;
• storing trajectory information that represents a trajectory for movement of the manipulator within the target region based on the information indicating at least one of the position, orientation, shape, or size of the first body;
• acquiring change information indicating a change in the target region that occurred after calculation of the stored trajectory information;
• determining, based on the change information, whether the trajectory for movement of the manipulator needs correction due to the change in the target region;
• and
• determining, in response to a determination that the trajectory needs correction due to the change inside the target region as indicated by the change information, a new trajectory for movement of the manipulator in the target region.