A method of inserting an electronic components in through-hole technology, THT, into a printed circuit board, PCB by an industrial robot, based on reinforcement learning, includes grabbing, by means of a tool with universal fingers mounted to the end-effector of the industrial robot, the electronic component to be inserted into the PCB; moving the tool to a starting position being in close proximity to a final position of the electronic component; acquiring at least one image showing the tool, the electronic component and the PCB; calculating, on a basis of the at least one image, at least one movement instruction for the industrial robot; adjusting position of the tool on a basis of the at least one movement instruction, and repeating the steps until the electronic component is in the final position.

A method for controlling a robot having a drive arrangement with at least one drive includes determining an actual velocity of the robot, determining a target velocity for the robot, and determining a damping drive parameter based on a difference between the target velocity and the actual velocity. The target velocity is determined based on at least one of a predetermined maximum velocity, a predetermined minimum velocity, or a first distance of the robot from at least one predetermined boundary. The drive arrangement of the robot is then controlled based on the damping drive parameter.

A drive unit 10A is configured to exert a driving force on an environment 50 in accordance with a target driving force command ?.sub.d, and includes a parameter storage device 30A, a force measuring instrument 35, an admittance model calculation device 31A, and a position control and driving device 33A. The parameter storage device 30A has stored therein dynamics parameters of first and second virtual objects affected by a virtual interactive force ?.sub.R. The force measuring instrument 35 is configured to output a measurement result for the driving force as a measured driving force value ?.sub.s. The admittance model calculation device 31A is configured to calculate and output a displacement of the first virtual object. The displacement is obtained by calculations based on the stored dynamics parameters, the target driving force command ?.sub.d, and the measured driving force value ?.sub.s. The position control and driving device 33A is configured to operate in accordance with a target position command. The force measuring instrument 35 is disposed between the position control and driving device 33A and the environment 50. The target position command corresponds to the first virtual object's displacement outputted by the admittance model calculation device 31A. The drive unit 10A achieves advantages of both high and low backdrivability.

CLEAN COPY OF THE ABSTRACT

A method to control a closed robotised system comprises a learning step and a reproduction step, wherein, during the learning step, an operator exerts a force and/or a torque (Fc) on a driving assembly, whose sensor detects an applied force and/or torque (Fext); and wherein a processing system carries out an admittance control obtaining, depending on the data detected by the sensor, indications (Xref, X*ref) of movement for the robot manipulator in the Cartesian space; the processing system, following the admittance control, delivers the indications (Xref, X*ref) of movement in the Cartesian space to a trajectory interpolation unit of the robotised system so as to generate a desired trajectory through interpolation.

A robot system comprises a manipulator and a controller therefore, wherein the controller supports impedance-based control of a lead-through operation mode, characterized in that the controller is switchable between impedance-based and admittance-based control of the lead-through mode.

A robot control method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining a trajectory planning parameter of joint(s) of the robot, force data of an end of the robot, and force data of the joint(s); obtaining an end admittance compensation amount; determining a first joint parameter and a first slack variable corresponding to the end admittance compensation amount in a joint space of each of the joint(s) based on the end admittance compensation amount and the trajectory planning parameter; obtaining a joint admittance compensation amount; determining a second joint parameter based on the first joint parameter, the first slack variable, the joint admittance compensation amount, and the trajectory planning parameter; determining a target joint commanding position based on the second joint parameter; and controlling the robot to move according to the target joint commanding position.

A resistive exoskeleton control system has a controller generating a positive resistance by shaping a closed loop integral admittance of a coupled human exoskeleton system wherein a frequency response magnitude of the integral admittance is lower than that of a natural human joint for desired frequencies of interest and generating an assistance ratio of approximately zero for the desired frequencies of interest.

A method for controlling a robot having a drive arrangement with at least one drive includes determining an actual velocity of the robot, determining a target velocity for the robot, and determining a damping drive parameter based on a difference between the target velocity and the actual velocity. The target velocity is determined based on at least one of a predetermined maximum velocity, a predetermined minimum velocity, or a first distance of the robot from at least one predetermined boundary. The drive arrangement of the robot is then controlled based on the damping drive parameter.

A resistive exoskeleton control system has a controller generating a positive resistance by shaping a closed loop integral admittance of a coupled human exoskeleton system wherein a frequency response magnitude of the integral admittance is lower than that of a natural human joint for desired frequencies of interest and generating an assistance ratio of approximately zero for the desired frequencies of interest.

An admittance control method, a robot, and a storage medium are provided. The method includes: obtaining, based on a first admittance controller transfer function between force and position, a desired position of a robot in a current control cycle; determining a corresponding Jacobian matrix according to a configuration of the robot in the current control cycle, and calculating an ill condition number of the Jacobian matrix; and controlling the robot to move by inputting the obtained desired position in the current control cycle to a corresponding joint, in response to the ill condition number being less than a preset maximum ill condition number. In this manner, the configuration of the robot can be maintained within a reasonable rang of the ill condition number, and singularities caused by the admittance controller exceeding the work space can be avoided while the velocity reachability and force reachability of the robot can be ensured.