A system for condition monitoring and fault diagnosis includes a data collection function that acquires time histories of selected variables for one or more of the components, a pre-processing function that calculates specified characteristics of the time histories, an analysis function for evaluating the characteristics to produce one or more hypotheses of a condition of the one or more components, and a reasoning function for determining the condition of the one or more components from the one or more hypotheses.

The present disclosure relates to protecting fragile members of robots from damage during fall events. In response to detecting a fall event, a fragile member of a robot can be actuated to a defensive configuration to avoid or reduce damage. An actuatable protective member can be actuated to protect a fragile member to avoid or reduce damage to the fragile member. Actuatable protective members can be dedicated protective members, or can be other members of the robot which serve different functionality outside of a fall event but act as a protective member during a fall event.

A robot comprises at least one articulate arm having members including a base, an end effector and a plurality of links, wherein each link is movably connected to two others of said members by respective joints, at least one sensor for detecting an external force acting on any one of the members, and a controller for controlling movements of the joints, so as to move the end effector along a pre-programmed path. In case of the sensor detecting an external force, the controller is adapted to adopt a first release strategy for escaping from the external force, to evaluate whether the first strategy is successful, and if not, to adopt a second release strategy.

A surgical robotic testing unit for testing a surgical robotic system, the surgical robotic system comprising a first subsystem configured to generate a first signal having a first characteristic behaviour and a second subsystem configured to receive the first signal and to respond to the received first signal, the testing unit being configured to: emulate the first subsystem by: generating an emulated signal representative of the first signal of the first subsystem, the emulated signal having an emulated behaviour that exceeds a boundary of the first characteristic behaviour of the first signal, such that the testing unit is operable to test the second subsystem beyond the capability of the first subsystem; transmitting the generated emulated signal for receiving at the second subsystem; and receiving a response signal from the second subsystem indicative of the response of the second subsystem to the emulated signal; analyse the received response signal; and determine a state of the second subsystem based on the analysis.

A method, a non-transitory computer readable medium, and an apparatus for operating the robotic control system comprising a master apparatus (64) in communication with an input device (58, 60) having a handle (102) and a slave system (54, 74) having a tool (66, 67) having an end effector (73) whose position and orientation is determined in response to a current position and current orientation of the handle. The method involves producing a desired end effector position and orientation in response to a current position and orientation of the handle. The method involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a disablement criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets an enablement criterion.

Robotic medical systems capable of manual manipulation are described. A robotic medical system can include a robotic arm and a sensor architecture. The sensor architecture can include one or more non-joint based sensors that are positioned to detect a first force exerted on the robotic arm. The robotic medical system can be configured to determine whether sensor data received from the sensor architecture meets first criteria. For example, the first criteria can be met in accordance with a determination that the first force exceeds a first threshold force. The robotic medical system can be configured to, in accordance with a determination that the first criteria are met, transition the robotic arm from a position control mode to a manual manipulation mode.

A method and system of robotic arm safety detection based on EtherCAT automation are provided. The method includes: issuing a control data through the protocol module to control the robotic arm to complete an automation operation process by the control system module, and receiving joint data fed back in real-time of the sensor module; acquiring a real-time data of the robotic arm by the data capture module; wherein the real-time data includes protocol data and joint data; the joint data is acquired by the data capture module through the sensor module; performing a protocol data rule matching and physical process detection by the intrusion detection module based on the real-time data, and obtaining an intrusion detection result; wherein the intrusion detection result is configured to detect whether an intrusion behavior occurs during a normal operation of the robotic arm.

In an implementation, a robotic system includes a robot, a power source exchange station, and a controller. A method of operation of the robotic system includes identifying by the controller a low-power condition of the robot, and, in response to the identifying of a low-power condition, causing by the controller the robot and the power source exchange station to exchange a first primary electrical power source from the robot for a second primary electrical power source from the power source exchange station. The first and the second primary electrical power source may be a first and a second primary battery, respectively. The robotic system may engage a secondary power source operable to maintain a power supply to the robot during the exchange. The secondary power source may be a secondary battery on-board the robot.

A robot system for human-robot collaboration is disclosed that includes one or more proximity sensing elements disposed on the movable parts of the robot, joint position sensing sensors, and a safety control module connects the proximity sensing element and joint position sensing sensors and monitors the speed of the robot and the proximity distance to the objects and stop the robot safely when speed exceed the set limit. The safety control module switches the safety status of the robot when a set proximity distance threshold is triggered. Then, multiple embodiments of the safety status triggered by proximity sensing are introduced for different processes of the human-robot collaboration, includes separation monitoring, force limiting for bumping, and manipulation of the robot. Furthermore, embodiments of utilizing different types of sensors to implement the proximity sensing elements are also disclosed.

A self-contained truck-mounted brick laying machine can include a frame that can support packs or pallets of bricks placed on a platform. A transfer robot can pick up and move the brick(s). A carousel can be coaxial with a tower. The carousel can transfer the brick(s) via the tower to an articulated and/or telescoping boom. The bricks can be moved along the boom by, e.g., linearly moving shuttles, to reach a brick laying and adhesive applying head. The brick laying and adhesive applying head can mount to an element of the stick, about an axis which is disposed horizontally. The poise of the brick laying and adhesive applying head about the axis can be adjusted and can be set in use so that the base of a clevis of the robotic arm mounts about a horizontal axis, and the tracker component is disposed uppermost on the brick laying and adhesive applying head. The brick laying and adhesive applying head can apply adhesive to the brick and can have a robot that lays the brick. Vision and laser scanning and tracking systems can be provided to allow the measurement of as-built slabs, bricks, the monitoring and adjustment of the process and the monitoring of safety zones. The first, or any course of bricks can have the bricks pre machined by the router module so that the top of the course is level once laid.