Disclosed is a system, including: a robot having a controller configured to perform a self-assessment by being configured to: instruct an external sensor that is spaced apart from the robot to obtain and transmit sensor data that is indicative a condition of an external surface of the robot; determine from the sensor data that the robot requires service; and transmit a service request or schedule service responsive to determining that the robot requires service.

An accelerated life test method for a speed reducer of an industrial robot is provided. The accelerated life test method includes: setting first load stress higher than rated load stress and second load stress lower than the rated load stress; performing an accelerated life test by loading the first load stress to first speed reducer samples; calculating a service life of each of the first speed samples in the accelerated life test; performing a contrast test by loading the second load stress to second speed reducer samples; calculating a service life of each of the second speed samples in the contrast test; and calculating an acceleration coefficient, and the acceleration coefficient is equal to a ratio of the service life in the accelerated life test to the service life in the contrast test.

A calibration device is provided. The calibration device includes a frame, a first optical sensing device, a second optical sensing device and a third optical sensing device. The frame includes a bottom plate and at least four sidewalls, wherein the sidewalls have a first grating hole, a second grating hole, a third grating hole and a fourth grating hole at a first height. The bottom plate has an image recognition pattern, a first measurement point, a second measurement point and a third measurement point.

Methods and devices for diagnosing a robot. A method includes obtaining a spectrum of a motion signal generated by a rotating component of the robot during operation of the robot. A frequency amplitude of a sub-component of the rotating component is determined from the spectrum, based on a physical characteristic and a speed of the sub-component. A failure of the sub-component is detected by comparing the frequency amplitude with a threshold amplitude.

To provide a positional relationship acquiring apparatus that can acquire the positional relationship between a plurality of rotation shafts that are driven by a plurality of motors, without a user manually performing setting or the like. A positional relationship acquiring apparatus includes: a motor control unit that controls a plurality of motors of a robot that has a plurality of rotation shafts that are respectively driven by the plurality of motors; a receiving unit that receives angular velocities that have been acquired by a plurality of angular velocity sensors that are respectively provided for the plurality of rotation shafts; and a positional relationship acquiring unit that acquires a positional relationship between the plurality of rotation shafts, using the angular velocities acquired by the plurality of angular velocity sensors and received by the receiving unit when the plurality of rotation shafts have been rotated by the motor control unit one by one.

The present invention relates to a static compliance performance testing device applied to an industrial robot, comprising a loading direction adjusting component and a loading force adjusting component, wherein the force applying end of the loading direction adjusting component is connected with an end mechanical interface of the industrial robot, and is configured to adjust a force bearing direction of the end mechanical interface. The loading force adjusting component comprises a lever, a first-stage weight and a second-stage weight, the lever is provided with a fixing part and is rotatable around the fixing part, the force bearing end of the loading direction adjusting component is connected with the lever, the first-stage weight is suspended on the lever, the second-stage weight is suspended on the lever and is movable along the lever, the weight of the first-stage weight is larger than the weight of the second-stage weight.

A mechanical arm calibration system and a mechanical arm calibration method are provided. The method includes: locating a position of an end point of a mechanical arm in a three-dimensional space to calculate an actual motion trajectory of the end point when the mechanical arm is operating; retrieving link parameters of the mechanical arm, randomly generating sets of particles including compensation amounts for the link parameters through particle swarm optimization (PSO), importing the compensation amounts of each of the sets of particles into forward kinematics after addition of the corresponding link parameters, to calculate an adaptive motion trajectory of the end point; calculating position errors between the adaptive motion trajectory and the actual motion trajectory of each of the sets of particles for a fitness value of the PSO to estimate a group best position; and updating the link parameters by the compensation amounts corresponding to the group best position.

Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, employed within a robotics system. In one aspect, a robotics system includes an interface; an output; a processor; and a computer-readable storage device coupled to the processor and having instructions stored thereon which, when executed by the processor, cause processor to perform operations comprising: providing, through the interface, a simulation of the robotics system described by a Ubiquitous Simulation Model (USM) and depicted within a simulated environment; receiving a command through the interface; determining an applicable module configured to operate skills and knowledge for the command based on the USM and the simulated environment; processing the command with the module and the USM to determine an appropriate action, wherein the action is determined based on a coherent mode of conduct and self-presentation modeled for the robotics system; and performing the action with the output.

The invention relates to a testing device for material wear of cycloidal gear and needle bearing of RV reducer, comprising: an upper cover (1), a lower cover (2), two sliding shafts (3 and 3′), two connecting shafts (4 and 4′), a driven shaft component (5), two copper sleeves (6 and 6′), two nuts (7 and 7′), two disc springs (8 and 8′), an eccentric shaft component (9), a needle bearing (10), two planetary gears (11 and 11′), two cycloidal gears (12 and 12′), and a motor assembly (13). The device can be installed on various industrial platforms. The motor drives the planetary gear to rotate, and then drives the eccentric shaft to rotate. The first bearing hole of the cycloidal gear fits with the needle bearing and forms a revolute pair with the eccentric shaft. Owning to the eccentric shaft, the cycloidal gears (12 and 12′) are driven to swing. The other bearing hole fits with the sliding shaft (3 and 3′) and the connecting shaft (4 and 4′) to form a loaded rolling friction pair. Then the cycloidal gear drives the sliding shaft to perform reciprocating movement along the track of cavity. The connecting shaft (4 and 4′) and the sliding shaft (3 and 3′) exert the load on the cycloidal gear (12 and 12′) and needle bearing (10) by compressing the disc springs via the nuts. After a specified time of operation, measure the diameter of bearing holes of cycloidal gear and the outer diameter of needle bearing, then evaluate the material wear of the two components. It provides reliable testing data for the selection of material and the determination of heat treatment process of the cycloidal gear and needle bearing. The invention solves the difficult problem for measuring the material wear of cycloidal gear and needle bearing, which are the key components of RV reducer.

A method for checking a safety area of a robot with an augmented reality human machine interface (AR-HMI) that comprises a display and a video camera. The method includes: acquiring, at the AR-HMI, a robot type of the robot, displaying, in the display of the AR-HMI, a virtual robot image of at least part of a robot of the robot type in a manner such that the virtual robot image overlays an actual robot image of the robot of the robot type in the video camera of the AR-HMI, aligning a position of the virtual robot image with a position of the actual robot image by moving the AR-HMI in three-dimensional space, confirming the alignment of the position between the virtual robot image and the actual robot image, and displaying a virtual first safety cell area around the virtual robot image in the confirmed position as an overlay of the actual robot image in the display of the AR-HMI.