A device for robot-assisted machining of surfaces is described below. According to an example, the device has a retainer with a base plate designed for mounting on a manipulator and has an assembly suspended on the retainer, the assembly comprising a machine tool. The retainer has a tilt mechanism which couples the assembly to the retainer in such a way that the assembly can be tilted relative to the base plate about two axes of rotation, wherein the two axes of rotation can intersect with one another and run through the assembly below the base plate.

Provided is a method for controlling a robot including a base, a robot arm coupled to the base, and a drive unit including a motor for driving the robot arm. The method includes a first step of acquiring weight information including information on a weight of an end effector installed on the robot arm and a weight of an object to be worked by the end effector, a second step of determining a frequency component to be removed from a drive signal for driving the motor based on the weight information acquired in the first step, and a third step of removing the frequency component determined in the second step from the drive signal to generate a correction drive signal.

The present disclosure provides a method for controlling end-portions of a robot. The method includes obtaining joint information of a robot by at least one sensor and determining a first posture of an end-portion of the robot in accordance with the joint information, obtaining end-portion information of the robot by the sensor and obtaining the second posture of the end-portion of the robot including the interference information in accordance with the end-portion information of the robot and the first posture of the end-portion of the robot, and conducting a closed-loop control on the robot in accordance with an error between the second posture of the end-portion of the robot and a predetermined expected posture of the end-portion of the robot.

A computer-assisted device includes a plurality of articulated arms and a control unit. Each articulated arm has a plurality of brakes. The control unit is configured to determine a plurality of timing windows based on a time period for brake release and a number of articulated arms comprising the plurality of articulated arms. The plurality of timing windows include a timing window for each articulated arm of the plurality of articulated arms. The control unit is further configured to determine, for each articulated arm of the plurality of articulated arms, an order for releasing brakes of the plurality of brakes of that articulated arm. The control unit is further configured to cause release of the brakes of the plurality of brakes of each of the plurality of articulated arms according to the determined order and the plurality of timing windows.

A robot apparatus includes: a robotic arm provided with a robotic hand capable of changing its position and its orientation by using joints; a visual sensor which measures a position or an orientation of a gripped object gripped with the robotic hand at a measurement teaching point; and a control device. The control device controls the position or the orientation of the gripped object when the gripped object is attached to an attachment target object at a corrected teaching point corrected based on a measurement result by the visual sensor. In this case, the control device determines a measurement teaching point, where the measurement with the visual sensor takes place, such that a driving direction of each of the joints from the measurement teaching point to the corrected teaching point is set to a definite driving direction.

A method for controlling an actuator of a hinged segment including the steps of: estimating an inertia J of the segment and a minimum viscous hinge friction f; estimating or measuring a traveling speed {dot over (X)} of the segment and an internal deformation ΔX of the actuator; synthesizing a control law H.sub.∞ generating a control current (or torque) from the estimates or measurements and meeting a performance objective pertaining to a transfer function (I) between an acceleration {umlaut over (X)} of the segment and an external force F to which the segment is subjected: (II) with (III), ε being a mathematical artifact and s being the Laplace variable; and controlling the actuation of the hinged segment according to the control law thus synthesized.

A robot controller for controlling a robot arm comprising: —a first space shaping module configured to provide a shaped first space target motion by convolving a first space target motion with an impulse train, where the first space target motion defines a target motion in a first reference space; —a second space shaping module configured to provide a shaped second space target motion by convolving a second target motion with the impulse train; where the second target motion defines the target motion in a second reference space; and —a motor controller module configured to generate motor control signals to the joint motors based on the shaped first space target motion and the shaped second space target motion. This makes it possible to dynamically adjust in which reference space the input shaping shall be performed whereby vibrations and deviation in one reference space caused by input shaping in another reference space can be reduced.

A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.

A system and method for backdrivability control of end effectors in robotic systems are described. In one example, a robotic system includes a joint in a kinematic chain, an end effector at an end of the kinematic chain, and an assembly for backdrivability control of the joint. The assembly includes a frame comprising a flexure arm and a circular clearance area that extends around the joint, a brake band having one end secured along the circular clearance area and a second end secured at an end of the flexure arm, and a brake actuator configured to selectively pull the end of the flexure arm and tighten the brake band around the joint. The brake actuator can be actuated to tighten the brake band around the joint, arresting or dampening motion in the kinematic chain of the system for certain movements.

A control apparatus of a robot that includes a flexible portion and a locking mechanism for fixing the flexible portion, the control apparatus including: a lock control unit configured to control locking and unlocking of the flexible portion; and an operation control unit configured to control operation of the robot using different types of control policies depending on whether the flexible portion is locked or unlocked. With this control apparatus, it is possible to effectively control a robot in which locking and unlocking of the flexible portion can be switched.