Systems and methods for constrained motion control of medical instruments are provided. In one aspect, a robotic system includes an instrument having an end effector, a robotic arm configured to control movement of the instrument and the end effector, and an input device configured to receive an input for controlling movement of the instrument and end effector. The instrument is capable of moving in a different number of degrees-of-freedom (DOFs) than the input device. The system is configured to determine a Jacobian matrix relating the input to the input device to robotic arm commands for achieving a motion of the end effector indicated by the input, modify the Jacobian matrix via discarding at least one row of the Jacobian matrix, and determine a robotic arm command for achieving the motion of the instrument indicated by the input based on the modified Jacobian matrix.

A method for controlling a robot assembly having at least one robotic arm. The method includes determining a trajectory in the axis space of the robot assembly on the basis of a path having a plurality of previously specified Cartesian poses of at least one robot-assembly-fixed reference, and determining control values in the axis space on the basis of said trajectory. The robot assembly is controlled on the basis of the control values.

An admittance mode control system for a robotic arm comprises an admittance switch adapted to be mounted to the robotic arm. A rotary contact connects a control circuitry to the admittance switch. The control circuitry is adapted to be mounted to the robotic arm, rotational degree(s) of freedom being present between the control circuitry and the admittance switch, the control circuitry interpreting signals to filter circuit misconduct from admittance switch activation. The control circuitry is adapted to communicate a request for admittance to a robot driver for the robot driver to convert an operation of the robotic arm into admittance mode.

A robot control apparatus includes a controller, a storage, a backup creation processor, a checksum creation processor, a comparison processor, and a preservation processor. The comparison processor compares a checksum of a current backup file created by the checksum creation processor and a checksum of a past backup file. When the checksum of the current backup file and the checksum of the past backup file are different, the preservation processor preserves the current backup file or a difference between the current backup file and the past backup file.

The present disclosure provides a robotic arm control method as well as an apparatus and a terminal device using the same. The method includes: obtaining a current joint angle of each of M joints of the robotic arm; obtaining a reference included angle based on the current joint angle of each of the M joints of the robotic arm; determining an expected included angle corresponding to the robotic arm within a target angle range based on the reference included angle and the preset included angle related evaluation function; and controlling the robotic arm based on the target joint angles of the M joints.

The present disclosure provides a method for controlling an arm of a robot, including obtaining obstacle information relating to the arm of the robot by at least one sensor, obtaining current posture information of the arm of the robot by a least one detector and obtaining an expected posture information of an end-portion of the arm of the robot, determining an expected trajectory of the end-portion of the arm of the robot, determining an expected speed of the end-portion of the arm of the robot in accordance with the expected trajectory of the end-portion, determining a virtual speed of a target point on the arm of the robot, and configuring a target join speed corresponding to a joint of the arm of the robot. Such that the redundant arm of the robot may be configured to prevent from contacting the obstacles in the complex environment while performing corresponding tasks.

The present disclosure provides a redundant robotic arm control method, a redundant robotic arm, and a computer readable storage medium. The method includes: obtaining an external force acting on an end of the robotic arm and an external torque acting on each joint; calculating a first joint speed of each joint based on a degree of influence of the joint on the end in each motion dimension and the external force acting on the end; determining a zero space speed of each joint corresponding to a current position of the end based on a link torque of an external force acting on a link with respect to the joint; calculating a total joint speed based on the first joint speed and the zero space speed; and controlling the robotic arm to the move according to the total joint speed.

A robotic system comprising: a robot having a base and an arm extending from the base to an attachment for an instrument, the arm comprising n joints, where n>1, whereby the configuration of the arm can be altered, the arm having a plurality of configurations for a given relationship between the base and the attachment for the instrument, the robot comprising a driver for each joint configured to drive the joint to move and a joint sensor for each joint for sensing a state of the joint; and a control unit configured to: obtain a desired position of the attachment for the instrument; for each of k joints where k<n, obtain a sensed joint state; compare the obtained k sensed joint states to a set of constraint criteria, the set of constraint criteria being indicative of the arm moving from a first configuration towards a second configuration, where movement of the arm is more constrained in the second configuration than in the first configuration; where the obtained k sensed joint states match the set of constraint criteria, determine a magnitude of an adjustment signal configured to slow, halt or reverse movement of the arm towards the second configuration; using the desired position of the attachment for the instrument and the obtained k sensed joint states, determine a direction of the adjustment signal; for each of the n joints, obtain a sensed joint state; using the desired position of the attachment for the instrument, the obtained n sensed joint states and the adjustment signal, determine a set of control signals for controlling the drivers; and drive the joints using the set of control signals.

An inverse kinematics solving method for redundant robot as well as a redundant robot using the same are provided. The method includes: obtaining an expression of a Jacobian matrix null space of a current configuration of each robotic arm of the redundant robot corresponding to a preset end pose of the robotic arm according to the preset end pose, and obtaining a relation between an angular velocity of the joints of the redundant robot in the Jacobian matrix null space of the current configuration based on the obtained expression; traversing the Jacobian matrix null space using the relation, and building an energy cost function of the redundant robot based on the relation; obtaining a target joint angle of each joint of the redundant robot based on the optimal inverse kinematics solution to transmit to the servo of the joint so as to control the joint.

Systems, methods, devices, and other techniques are described for planning motions of one or more robots to perform at least one specified task. In some implementations, a task to execute with a robotic system using a tool is identified. A partially constrained pose is identified for the tool that is to apply during execution of the task. A set of possible constraints for the unconstrained pose parameter are selected for each unconstrained pose parameter. The sets of possible constraints are evaluated for the unconstrained pose parameters with respect to one or more task execution criteria. A nominal pose is determined for the tool based on a result of evaluating the sets of possible constraints for the unconstrained pose parameters with respect to the one or more task execution criteria. The robotic system is then directed to execute the task, including positioning the tool according to the nominal pose.