A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.

A program creation apparatus acquires a work sequence executed by a robot, and creates a robot motion program containing a motion program based on the work sequence, an execution mode that can be enabled or disabled, and a command to switch to enable or disable the execution mode.

A method of the present disclosure includes (a) setting a limit value specifying a constraint condition with respect to a specific force control characteristic value detected in force control and an objective function with respect to a specific evaluation item relating to the work, (b) searching for an optimal value of the force control parameter using the objective function, and (c) determining a setting value of the force control parameter according to a result of the searching. The objective function has a form in which a penalty increasing according to an exceedance of the force control characteristic value from an allowable value smaller than the limit value is added to an actual measurement value of the evaluation item.

The present invention proposes a mobile robotic system capable of carrying out the movement, manipulation and precise installation of industrial loads (pipes, plates, equipment, parts, materials, etc.), using a single operator for that and presenting ease of use. The invention is basically composed of an anthropomorphic-type industrial robot (3) and a crawler mobile platform (11). The load capacity of the invention is limited by the maximum load capacity of the industrial robot employed. The precise positioning step has a special force amplification system (external exoskeleton) capable of moving a load fixed on the industrial robot wrist (position and orientation) with the force actions of an operator, directly on the robot wrist, or by means of a security extension. The robotic system can be controlled by radio control, capable of allowing both the control of the robot and the movement of the platform.

The proposed system of this invention comprises a mobile platform for all types of terrain, an industrial robotic arm, an effector for handling pipes, an effector to pick up metal plates, the respective supports of effectors in a quick tool change system, a diesel electric generator, an industrial radio control, safety sensors and a video monitor for two cameras positioned on the robot structure.

One or more force control parameters used in force control is adjusted. A robot system includes a robot, a force detector configured to measure an external force exerted on the robot, and a control section that causes the robot to perform an action through feedback control. A measured force value that is a measured value of the external force is produced by causing the robot to perform an action using one or more second servo gains corresponding to one or more first servo gains used when the robot system is caused to perform an actual task, the second servo gains each having a value greater than the value of the corresponding first servo gain, and further using a candidate value of the force control parameters. A new candidate value of the force control parameters is produced by carrying out an optimization process on the force control parameters by using the measured force value. A parameter determination step of determining the force control parameters by repeating a measurement step and a parameter update step is provided.

End effector assemblies for drilling a plurality of spaced-apart holes in a part, robots including the end effector assemblies, and associated methods are disclosed herein. The end effector assemblies include a first force application structure, an end effector, and a second force application structure. The first force application structure is configured to apply a first force to a surface of the part. The end effector is configured to selectively transition the first force application structure between a retracted state and an extended state and to selectively extend a drill bit into the part and subsequently retract the drill bit from the part. The second force application structure is configured to continuously apply a second force to the surface of the part while the first force application structure is in the retracted state and as the end effector assembly transitions from a first predetermined location to a second predetermined location.

A vehicle or another object is grasped by a robotic arm of a handling system and caused to undergo one or more movements or manipulations resulting in a change of position, orientation, velocity or acceleration of the vehicle. Sensors provided in the robotic arm capture data representative of forces or torques imparted upon the robotic arm by the vehicle during or after the movement, or power or energy levels of vibration resulting from the movement. A signature representative of an inertial or vibratory response of the vehicle to the movement is derived based on the data. The signature may be compared to a baseline signature similarly derived for a vehicle that is known to be structurally and aerodynamically sound. If the signature is sufficiently similar to the baseline signature, the vehicle may also be determined to be structurally and aerodynamically sound.

A method for controlling at least one servomotor in a braking manner with a frequency converter includes disconnecting a direct-voltage intermediate circuit from an electric alternating-voltage network, braking the servomotor by controlling semiconductor switches of an inverter circuit in a regenerative braking mode in order to reduce the speed of the servomotor, and controlling a brake chopper such that a brake resistor is switched on at a maximum intermediate-circuit voltage, which forms a switch-on threshold for the brake chopper, and is disconnected at a minimum intermediate-circuit voltage, which forms a switch-off threshold for the brake chopper. The switch-on threshold and/or the switch-off threshold are dynamically changed during regenerative braking of the servomotor as a function of the current speed of the servomotor.

A control system for a continuum robot including at least one curvable unit driven by a wire and configured to be curvable, and a driving unit driving the wire includes: a position control unit performing control so that an error between a target displacement of push-pull driving of the wire by the driving unit and a displacement of a wire holding mechanism holding the wire obtained from a continuum robot is compensated; a force control unit performing control so that an error between a target generated force corresponding to a target tension of the wire output from the position control unit and a generated force corresponding to a tension of the wire obtained from the continuum robot is compensated; and wherein a first loop control system including the force control unit and a second loop control system including the position control unit.