Disclosed is a positioning arm including a link assembly including a translation link configured to translationally move along a virtual axis passing a remote center of motion (RCM) present at a predetermined position separated from one point and configured to move in at least two directions based on the one point, and a gravity torque compensator configured to provide a compensation torque in a direction opposite to a gravity torque applied to the one point by a self-weight of the link assembly.

Provided is a fixed point mechanism. In the fixed point mechanism, when a drive torque acts on a first connecting rod member (100) or a slide block device (110), the fixed point mechanism can realize a rotation movement around a fixed point; when a drive torque acts on a fourth connecting rod member (103) or a sixth connecting rod member (105), the fixed point mechanism can realize a telescopic movement relative to the fixed point; and when a drive torque acts on the first connecting rod member (100) or the slide block device (110), and another drive torque acts on the fourth connecting rod member (103) or the sixth connecting rod member (105), the fixed point mechanism can realize a rotation movement around the fixed point and a telescopic movement relative to the fixed point. That is, the fixed point mechanism has two degrees of freedom of the rotation movement around the fixed point and the telescopic movement relative to the fixed point.

A method of operating a robotic system involves servoing a multitude of joints of the robotic system in a first joint velocity space. The movement of the multitude of joints in the first velocity space moves a remote center or an end effector of the robotic system. The method further involves floating the multitude of joints in a second velocity space. The movement of the multitude of joints in the second velocity space moves the end effector or the remote center, respectively. The method further involves controlling motion of the multitude of joints in a third velocity space. The movement of the multitude of joints in the third velocity space does not move the end effector and does not move the remote center.

A mechanical arm assembly is generally presented. The mechanical arm assembly comprises a plurality of joints including a first joint, one or more intermediate joints, and a terminal joint connected in consecutive series and each configured to rotate with respect to any respective adjacent joints. The first, intermediate, and terminal joints are configured with their base and top arranged at a given angle with respect to the normal plane of the joint, such as parallel to the normal plane or 22.5 degrees with respect to the normal plane. Rotation of the joints is controlled by control wires. The control wires may be routed internally through the joints or externally outside of the joints.

This application relates to a robot arm structure and a manipulator of a surgical robot including the robot arm structure. The robot anti structure includes a first robot arm unit and a second robot arm unit. The first robot arm unit includes a plurality of first link arms, a first joint unit mounted on one of the first link arms and rotating the one of the first link arms about a first axis and a second joint unit installed on at least one of the plurality of first link arms to adjust a length of the at least one link arm. The second robot arm unit includes a second link arm connected to one of the first link arms and a third joint unit using a lengthwise direction of the second link arm as a first rotary shaft and rotating the second link arm.

A fun and affordable animated toy robot operates with varying degrees of autonomy and anthropomorphism. The robot may include a customized chipboard controller or computer, a power source, and may be constructed with specialized connectors, magnets, servo motors, generally less-sturdy (or pliable) thin materials, such as chipboard, card stock, cardboard, or the like, used for the body and limbs of the robot, and LEDs. The specialized connectors may be used to attach the servos to these materials. An application and the controller may be used to control the motion of the robot. Young children may be able to make the attachments to build the robot with little or without the help of adults or older children. Building and operating the robot may be fun activities for children and families, and may provide enjoyable learning activities about robotics.

A robotic trolley collection system and methods for automatically collecting baggage/luggage trolleys are provided. The system includes a differential-driven mobile base; a manipulator mounted on the differential-driven mobile base for forking a trolley, having a structure same as a head portion of the trolley; a sensory and measurement assembly for providing sensing and measurement dataflow; and a main processing case for processing the sensing and measurement dataflow provided by the sensory and measurement assembly and for controlling the differential-driven mobile base, the manipulator, and the sensory and measurement assembly. The method includes localizing and mapping the robotic trolley collection system; detecting an idle trolley to be collected and estimating pose of the idle trolley; visually servoing control of the robotic trolley collection system; and issuing motion control commands to the robotic trolley collection system for automatically collecting the idle trolley.

A side-loading robotic arm for use with rear or mid-body mounted refuse containers. The robotic arm is configured for disposition forward of a container, but may be disposed behind or otherwise oriented relative to the container. The robotic arm includes a tipping arm pivotingly attached to and carried by a carriage body disposed on lateral rails. The tipping arm has a generally right-angle configuration. A lifting arm is pivotingly attached to the tipping arm distal from the carriage body. A pair of gripper arms is disposed on the lifting arm distal from the tipping arm. The right-angle configuration of the tipping arm facilitates pivoting and inversion of bins to be emptied into the refuse containers. The fixed shape of the tipping arm eliminates a mechanical movement operation of the prior art and minimizes potential mechanical interference with other parts of the robotic arm.

A side-loading robotic arm for use with rear or mid-body mounted refuse containers. The robotic arm is configured for disposition forward of a container, but may be disposed behind or otherwise oriented relative to the container. The robotic arm includes a tipping arm pivotingly attached to and carried by a carriage body disposed on lateral rails. The tipping arm has a generally right-angle configuration. A lifting arm is pivotingly attached to the tipping arm distal from the carriage body. A pair of gripper arms is disposed on the lifting arm distal from the tipping arm. The right-angle configuration of the tipping arm facilitates pivoting and inversion of bins to be emptied into the refuse containers. The fixed shape of the tipping arm eliminates a mechanical movement operation of the prior art and minimizes potential mechanical interference with other parts of the robotic arm.

A motion-assisted positioning arm for a medical procedure. The positioning arm includes a base, an arm coupled to the base, and an end effector coupled to the arm. The arm includes a plurality of arm segments. The arm includes a plurality of joints for connecting the arm segments. The end effector may be manipulable with six degrees of freedom in a task-coordinate space based on motion by at least one joint in the plurality of joints. The positioning arm includes a processor to: detect manipulation of and determine forces or torques acting on the end effector; determine a surgical mode for constraining movement of the end effector in the task-coordinate space; determine an end effector velocity based on the determined forces or torques and the surgical mode for moving end effector; and apply at least one joint space movement based on the end effector velocity.