A robot arm control device includes a pressure sensing module, a workspace defining module and a control module. The pressure sensing module, arranged on a robot arm, detects whether an object hits or touches the robot arm to switch the operating mode of the robot arm. The workspace defining module includes a sensing region arranged on a peripheral area around the robot arm. The workspace defining module determines whether the object enters an operating space according to the position of the object in the sensing region, and sets the working range and the working mode of the robot arm according to which operating space the object has entered. The control module, connected to the robot arm, the pressure sensing module and the workspace defining module, switches the operating mode and outputs a motor driving signal to the robot arm according to the working mode of the robot arm.

An example robotic tool holder includes an actuator that is disposed within a housing and configured to hold a tool. The housing and the actuator are in contact via dowels to limit movement of the actuator toward a distal end of the housing. Ones of the dowels that are in contact are in line contact and the ones of the dowels that are in contact are in a triangular geometry. The pressure plate is in line contact with the actuator within the housing around a circumference of the pressure plate. The springs are in contact with the pressure plate to bias the actuator toward a proximal end of the housing via the pressure plate. The springs are in contact with the mounting plate opposite the pressure plate. The sensor switch detects a shock force on the actuator and outputs a signal in response to the shock force.

A robot system includes a robotic arm having a wrist in a tip-end part thereof, the wrist being rotatable on a rotational axis extending in a given direction, an end effector attached to the wrist, and a deformation detecting device configured to detect deformation of the end effector by using a target pin having a target part where a given detection part of the end effector reaches. The target part has an indicate function to indicate that the detection part reaches the target part. The deformation detecting device includes a search part configured to control the robotic arm so that the detection part touches the target pin to search for the target part, and detect that the detection part reaches the target part based on the indicate function, and a deformation detecting part configured to compare an assumed position of the detection part when the detection part reaches the target part with a given reference position, and detect the deformation of the end effector.

A spring assembly for a rotary-type series elastic actuator (SEA) for use in robotic applications. The SEA including a motor, gear transmission assembly, spring assembly, and sensors. In one example, a robotic joint may include the SEA as well as two links coupled with each other at the joint assembly. The two links may be designated as input and output links. Each link may have a joint housing body which may be concentrically connected via a joint bearing so that they freely rotate against each other. The housing frame of the SEA may be fixed at the joint housing body of the input link while the output mount of the spring assembly of the SEA may be concentrically coupled with the joint housing body of the output link.

According to an embodiment, a handling system handles an object. The handling system includes a holder and a controller. The holder includes a main body operable to hold an object and an interference permitter displaceably or deformably attached to the main body. A controller is configured to control a motion of the holder. The controller is configured to plan a movement route of the holder. The controller is configured to determine the presence or absence of physical interference of the holder on at least a part of the planned movement route. The controller is configured to, as to a specific segment included in the planned movement route, determine the presence or absence of physical interference of the main body and permit physical interference of the interference permitter.

A robotic gripper mechanism has a housing, a gripper arm and a retention projection. The gripper arm extends from the housing. The gripper arm has a gripper finger provided at a distal end thereof. The retention projection is provided on the housing and cooperates with the gripper arm to exert a retention force on the gripper arm. Wherein when an external force is applied to the gripper finger in a direction which is parallel to a longitudinal axis of the housing, the gripper arm will move relative to the housing if the external force is greater than the retention force.

A protection apparatus for a manipulation device on a handling device, in particular on a handling robot. The manipulation device has at least one movably developed manipulation element and at least one overload protection which induces an evasion of the manipulation device when a trigger force on the manipulation device is exceeded. The overload protection has at least one magnetic element, which fixates the manipulation device in a setpoint position at forces below the trigger force.

While a location where a user is touching a robot (1) is being detected, a movement control section (14) controls a plurality of movable members such that (i) out of the plurality of movable members, a movable member corresponding to the location is prohibited from moving and (ii) every other movable member of the plurality of movable members is permitted to move. This makes it possible to provide a robot (1) that enables injury-free use by a user while the user is touching the robot (1).

A method and a gonioradiometer for the direction-dependent measurement of at least one photometric or radiometric characteristic of an optical radiation source. The emission direction of the photometric or radiometric characteristic is described using a system of planes (A, B, C), the planes of which intersect at an intersection line which passes through the radiation centroid of the radiation source, and using an emission angle (, , ) which specifies the emission direction (, , ) within a considered plane. A sensor or the radiation source is fastened to a multi-axis articulated robot. The robot is configured to only swivel about precisely one of its axes during a measuring process, in which measurement values relating to different emission angles (, , ) within a considered plane of the system of planes (A, B, C) or to different planes at a considered emission angle (, , ) are detected.

The method and a device are for protecting persons and stationary or autonomously moving obstacles in front of stationary or autonomously moving handling apparatuses such as manufacturing, transport, inspection or service robots and their manipulators from collisions within their workspace by pressure sensors in protective covers filled with medium in such a manner that the medium is not supplied to each individual protective element from outside, but the protective elements in their interior, in addition to a pressure sensor, also comprise a pressure-increasing device, which sucks in the medium, preferably ambient air, and generates a pressure in the interior of the protective element, which is adjustable from a control device.