The present process of controlling an industrial robot includes steps consisting of calculating a time-dependent composite setpoint defining articular forces and/or velocities, according to a target trajectory and to an operating mode; calculating (S106) a behavior matrix which describes a desired behavior of the robot arm, defining directions along which the calculated composite setpoint is to be applied; calculating (S108) an articular force setpoint for controlling the axis controller module and calculating the time derivative of a homogeneous internal state at an articular position. The articular force setpoint for controlling the axis controller module is calculated from a control function which adjusts the difference between the articular position and the internal state determined by integrating said time derivative of the internal state.

A capacitive sensor for characterizing force or torque includes a first plurality of non-patterned conductive regions and a first plurality of patterned conductive regions, and a second plurality of non-patterned conductive regions and a second plurality of patterned conductive regions. The first and second pluralities of non-patterned conductive regions are facing and the first and second pluralities of patterned conductive regions are facing.

A capacitive sensor for characterizing force or torque includes a first plurality of non-patterned conductive regions and a first plurality of patterned conductive regions, and a second plurality of non-patterned conductive regions and a second plurality of patterned conductive regions. The first and second pluralities of non-patterned conductive regions are facing and the first and second pluralities of patterned conductive regions are facing.

A drawing apparatus based on a robotic arm includes a bracket, a driving device located on the bracket and a robotic arm connected to the driving device, wherein the driving device consists of two speed-reducing stepper motors, one speed-reducing stepper motor being provided with an upper arm, a tail end of the upper arm being hinged to an auxiliary arm, a tail end of the auxiliary arm being hinged to a drawing arm, the other speed-reducing stepper motor being hinged to a lower arm, a tail end of the lower arm being hinged to the drawing arm, and a head end of the upper arm and a head end of the lower arm being connected through a torsional spring.

A drawing apparatus based on a robotic arm includes a bracket, a driving device located on the bracket and a robotic arm connected to the driving device, wherein the driving device consists of two speed-reducing stepper motors, one speed-reducing stepper motor being provided with an upper arm, a tail end of the upper arm being hinged to an auxiliary arm, a tail end of the auxiliary arm being hinged to a drawing arm, the other speed-reducing stepper motor being hinged to a lower arm, a tail end of the lower arm being hinged to the drawing arm, and a head end of the upper arm and a head end of the lower arm being connected through a torsional spring.

A transfer robot includes one arm, another arm, a motor, and a brake. The another arm is connected to the one arm via a shaft such that the another arm is rotatable relatively with respect to the one arm around a shaft axis of the shaft. The motor includes a rotor rotatable around the shaft axis to rotate the another arm around the shaft axis, and a stator connected to the one arm. The brake is provided at the another arm to apply a force to the stator so as to suppress relative rotation between the stator and the rotor when electric power is not supplied to the motor.

A transfer robot includes one arm, another arm, a motor, and a brake. The another arm is connected to the one arm via a shaft such that the another arm is rotatable relatively with respect to the one arm around a shaft axis of the shaft. The motor includes a rotor rotatable around the shaft axis to rotate the another arm around the shaft axis, and a stator connected to the one arm. The brake is provided at the another arm to apply a force to the stator so as to suppress relative rotation between the stator and the rotor when electric power is not supplied to the motor.

A transfer robot includes one arm, another arm, and a motor. The one arm has a first connection portion. The other arm has a second connection portion that is connected to the first connection portion of the one arm via a shaft such that the other arm is rotatable relatively with respect to the one arm around a shaft axis of the shaft. The motor is provided inside the first connection portion of the one arm. The motor includes a rotor rotatable around the shaft axis to rotate the one arm or the other arm around the shaft axis.

A transfer robot includes one arm, another arm, and a motor. The one arm has a first connection portion. The other arm has a second connection portion that is connected to the first connection portion of the one arm via a shaft such that the other arm is rotatable relatively with respect to the one arm around a shaft axis of the shaft. The motor is provided inside the first connection portion of the one arm. The motor includes a rotor rotatable around the shaft axis to rotate the one arm or the other arm around the shaft axis.

A snake-like robot includes a first link having a first distal end, a first proximal end, and a first longitudinal axis extending between the first distal end and the first proximal end. A second link has a second proximal end, a second distal end operatively coupled to the first proximal end, and a second longitudinal axis extending between the second proximal end and the second distal end. Rotation of the first link relative to the second link alternatively performs the following effects: elongation of the robot; pivoting of the first longitudinal axis relative to the second longitudinal axis; and rotation of the first longitudinal axis relative to the second longitudinal axis.