A robot system which is inexpensive and can easily measure a position of a target point. The system stores feature quantities of an image of a target mark included in an image acquired as reference data when the target mark is placed at a known first target mark position at the robot coordinate system and stores the first target mark position with respect to an arm tip as the position of the tool center point. The system compares the feature quantities obtained from the image acquired when the target mark is arranged at a second target mark position and the feature quantities of the reference data to make the arm tip move and calculates the second target mark position at the robot coordinate system based on a second robot position corresponding to the position of the arm tip after movement and the position of the tool center point.

A motor according to the present invention includes an output axis, a brake for holding the output axis, a sensor for detecting an external torque applied to the output axis from outside, and a controller for decreasing or increasing the torque of the brake during operation of the brake in accordance with an increase or decrease in the external torque detected by the sensor.

Various exemplary methods, systems, and devices for controlling a motor of a robotic surgical system are provided.

Initial interaction between a mobile robot and at least one user is described herein. The mobile robot captures several images of its surroundings, and identifies existence of a user in at least one of the several images. The robot then orients itself to face the user, and outputs an instruction to the user with regard to the orientation of the user with respect to the mobile robot. The mobile robot captures images of the face of the user responsive to detecting that the user has followed the instruction. Information captured by the robot is uploaded to a cloud-storage system, where information is included in a profile of the user and is shareable with others.

Various exemplary methods, systems, and devices for moving a surgical instrument coupled to a robotic surgical system are provided. In general, a robotic surgical system can include a movement assembly configured to facilitate movement of surgical instrument coupled to the robotic surgical system, e.g., coupled to an electromechanical arm of the robotic surgical system. The movement can include translational movement of the surgical instrument in which the instrument is selectively advanceable and retractable in opposed directions, e.g., proximal direction and distal direction, up vertically and down vertically, etc. The translational movement can be along a shaft of the instrument such that the movement assembly can be configured to selectively translate the instrument along a longitudinal axis of the shaft.

An example method includes receiving, from a sensor, an image of an environment, where the environment includes a robotic device. The method also includes determining, based on the received image of the environment, a pose of the robotic device relative to the sensor. The method further includes determining, based on the pose of the robotic device relative to the sensor, respective positions of a plurality of trajectory points for the robotic device relative to the sensor. The method additionally includes providing for display of the image of the environment and an overlaid plurality of virtual trajectory points corresponding to the plurality of trajectory points, where the plurality of virtual trajectory points are positioned in the image based on the determined respective positions of the plurality of trajectory points for the robotic device relative to the sensor.

For controlling a robot in a safe way, a highest voltage required for a desired robot movement is calculated. A voltage level in a DC-bus is set on the basis of the highest voltage, and current is supplied to a motor at a robot axis from the DC-bus. By limiting the voltage level in the DC-bus to correspond to an actual need for a desired robot movement at each instant unnecessary fast robot movements are prevented even in the event that an inverter controlling motor currents would by mistake attempt to drive the motor faster than desired by the operator.

An inventive programming means for programming a movement of a robot axis arrangement and a movement of at least one further robot axis arrangement is adapted to synchronize the pair of positions of the movement of the robot axis arrangement and the pairs of positions of the movement of at least one more robot axis arrangement, and while maintaining this synchronization, to specify at least another position between either one of these pairs of positions, which is not synchronized with another position of the hereby synchronized pair of positions.

A control method for a robot system includes a detection step of detecting a position of a female connector, a reference position setting step of setting a reference position as a reference for determination as to whether or not an insertion of a male connector into the female connector is successful based on the position of the female connector, and an insertion operation step of moving the male connector in an insertion start position along an insertion direction of the female connector, with a position where a force sensor of a robot detects a predetermined force generated by contact between the male connector and the female connector during the movement as a comparison position, and determining whether or not the insertion is successful by comparing the reference position and the comparison position.

A boom has a cylindrical body with a coupling flange at each end. The body is manufactured from a carbon fiber material. During construction of the carbon fiber body, an electronic feedback mechanism is embedded into the carbon fiber. The electronic feedback mechanism may be a simple electronic strain gauge. Optionally, the feedback mechanism may include a fiber optic cable woven into the carbon fiber weave.