A follow-up control device for an exoskeleton robot includes an upper arm and a lower arm, and the lower end of the upper arm and the upper end of the lower arm are connected via a rotatable joint. An active press block capable of sliding in a direction perpendicular to an axis is arranged on the upper arm or the lower arm, the active press block is bonded with a human body, two micro switches are arranged on the upper arm or the lower arm in correspondence to the active press block, a power device for driving the rotation is arranged between the upper arm and the lower arm, and the two micro switches respectively control the forward and backward motion of the power device.

Various approaches to solve for inverse kinematics may be used for teleoperation of a surgical robotic system. In one approach, an iterative solver solves for the linear component of motion independently from solving for the angular component of motion. One solver may be used to solve for both together. In another approach, all limits (e.g., position, velocity, and acceleration) are handled in one solution. Where a limit is reached, the limit is used as a bound in the intermediate solution, allowing solution even where a bound is reached. In another approach, a ratio of limits of position are used to create a slow-down region near the bounds to more naturally control motion. In yet another approach, the medical-based teleoperation uses a bounded Gauss-Siedel solver, such as with successive-over-relaxation.

In a parallel link mechanism, a distal end side link hub is coupled to a proximal end side link hub via three link mechanisms such that a posture of the distal end side link hub can be changed. Each link mechanism includes a proximal side end link member, a distal side end link member, and a center link member, and forms a quadric chain link mechanism composed of four revolute pairs. A singular point occurs when a central axis of the proximal or distal end side link hub and a central axis which is a rotation axis of a revolute pair section of the proximal or distal side end link member and the center link member coincide with each other. An axis angle of the center link member is specified such that a posture in which the singular point occurs is avoided.

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.

A robot includes a first member, a second member coupled rotatably around a rotation axis to the first member, a restricting member having a contact portion in contact with the first member when an angle between the first member and the second member is a predetermined angle and a through hole formed therein, a first locking member passing through the through hole and locking the restricting member to the second member, and a second locking member locking the restricting member to the second member, wherein, as seen from a direction along the rotation axis, a distance between the contact portion and the first locking member is shorter than a distance between the contact portion and the second locking member, and a length of the through hole in a direction from the first locking member to the contact portion is longer than a diameter of the first locking member.

A servo motor includes a housing, a rotor, a stator, a planetary reduction mechanism, a first Hall magnet, Hall switches, a second Hall magnet, and a position sensor; the rotor, stator, the planetary reduction mechanism, and the position senor are arranged in the housing. The rotor has a rotor support and a rotor shaft; the planetary reduction mechanism includes a sun gear, a planetary carrier, and planetary gears; a reduction ratio of the planetary reduction mechanism is N:1, where N is a positive integer; the first Hall magnet is arranged on the planetary carrier; the Hall switches correspond to the first Hall magnet and are arranged in the housing at even intervals around a rotation axis of the rotor shaft. The number of Hall switches is N; the second Hall magnet is arranged on the rotor; and the position sensor is opposite the second Hall magnet.

It is an object of the present invention to provide a stopper structure that can be arranged even at a position where no sufficient space can be ensured, such as at an axis at which an arm has a large operation range, and can appropriately absorb a shear load, and an articulated robot including such a stopper structure. A stopper structure according to the present invention relates to a stopper structure 100a for restricting relative rotation between an arm 120 and a mechanical element (base 110) by a predetermined angle or more, the stopper structure including: a protrusion 122 provided on one of the arm and the mechanical element; a hole 116 formed in the other one of the arm and the mechanical element; and a stopper 140 inserted into the hole while being partially exposed from the hole, wherein the stopper including: a block 150 made of an elastic resin; and a metal surface plate 160 that has a bent cross-section, and is provided on a surface of the block along a front side on which the stopper comes into contact with the protrusion.

A robotic system includes a robotic arm and a movable hardstop disposed proximate to the robotic arm. The movable hardstop is separated from the robotic arm by at least one clearance in a first operating condition. The movable hardstop physically contacts the robotic arm in a second operating condition. The robotic system also includes one or more controllers configured to control movement of the robotic arm and movement of the movable hardstop such that the first operating condition is maintained or such that, if the second operating condition occurs, the hardtop blocks movement of the robotic arm.

A machine control system includes an operation terminal which includes a communication unit and a touch panel unit and outputs machine operation information for operating a machine via the communication unit, a controller which controls the operation of the machine based on the received machine operation information, and a safety switch device which is mounted on the operation terminal and includes a switch unit which outputs a stop instruction signal for issuing an instruction to stop the machine, and a packet generation unit which converts the output stop instruction signal into a packet and outputs the packet to the operation terminal, wherein the operation terminal transfers the packet received from the safety switch device to the controller, and the controller restores a stop instruction signal from the packet received from the operation terminal and stops the machine based on the restored stop instruction signal.

A calibration area has a rectangular area and a peripheral area. The rectangular area includes a center area provided in the center portion and a first corner area, a second corner area, a third corner area, and a fourth corner area that are set at four corners sequentially in the circumferential direction. The center area has a line symmetry with respect to each of the two orthogonal axes passing through the center of the rectangular area. The heights of the areas are different.