A sensor system includes a first member extending along a rotational axis and having a surface disposed circumferentially about the axis. The sensor system further includes a conductive element fixed to the first member and disposed on the surface and about the rotational axis and a second member extending along the axis. A rotational position between the first member and the second member is adjustable. The sensor system further includes a target mounted to and rotatable with the second member and being movable relative to the second member between first and second positions. The target is spaced apart from the conductive element in both the first and second positions and is closer to the conductive element in the second position compared to the first position. The conductive element is configured to sense the target in the second position for any rotational position between the first member and the second member.

Disclosed herein are systems, devices, and methods of a safety system for analyzing and improving the safety of environments that may be shared between robots and humans. The safety system may receive a safety envelope that includes a reachable set of locations at an expected position of an object at a prediction time. The receiver may also receive a perception prediction that may be based on the safety envelope and may include environmental information associated with the object at the expected position at the prediction time. The safety system may also include a processor that generates an instruction to move a robot according to a safe movement instruction based on whether a perception check exceeds a predetermined threshold, wherein the perception check may be based on a difference between the perception prediction and sensor information indicative of the environment of the object at the prediction time.

Disclosed herein are systems, devices, and methods of a robot safety system for improving the safety of human-robot collaborations. The robot safety system may include a processor that receives a collaboration policy for task collaboration between a robot and a collaborator. The task collaboration may include a movement plan of the robot to move a manipulator to a collaboration position. The robot safety system may also determine a new collaboration position based on the collaboration policy. The robot safety system may also update the collaboration position of the movement plan to the new collaboration position.

A velocity control-based robotic system is disclosed. In various embodiments, sensor data is received from one or more sensors deployed in a physical space in which a robot is located. A processor is used to determine based at least in part on the sensor data an at least partly velocity-based trajectory along which to move an element comprising the robot. A command to implement the velocity-based trajectory is sent to the robot.

A system includes a robot arm with multiple joints and one or more end effector to carry a substrate. A processing device determines, within joint space of the robot arm, start/end points of the one or more end effector for a complete movement. The processing device builds, in joint space for the multiple joints and the one or more end effector, a graph of reachable positions and sub-paths between the reachable positions that satisfy Cartesian limits. The reachable positions are identified at a granularity that divides the complete movement into multiple sub-movements. The processing device executes a graph optimization algorithm on the graph to determine multiple paths, each a group of the sub-paths, that have one of shortest distances or lowest costs between the start/end points, and selects a path thereof that minimizes move time of the one or more end effector between the start/end points.

A system (1) for emulating remote control of a physical robot (5) via a wireless network (11) is disclosed. The system comprises a control module (2) for determining a trajectory for the physical robot and generating trajectory control data that comprises velocity data and positional data based on the determined trajectory. The system further comprises a first control loop (3), comprising a first feed forward controller (4). The first feed forward controller is configured to receive the trajectory control data, send, via the wireless network (11), and a first velocity command to a first control interface of the physical robot (5). The first velocity command is based on the trajectory data. The first feed forward controller (4) is further configured to receive, via the wireless network, a first set of sensor data from physical robot. The system (1) further comprises a simulated robot implementing a digital twin (9) of the physical robot, and a second control loop (6) comprising a second feed forward controller (7). The second feed forward controller is configured to receive, via the wireless network, a second set of sensor data from the physical robot, determine a second velocity command based on the received second set of sensor data, and send the second velocity command to a second control interface of the digital twin. A corresponding method (100) is also disclosed.

A robot system includes a slave unit including a slave arm having a working end, a slave arm actuator configured to drive the slave arm, and a slave-side controller configured to control the slave arm actuator based on a slave operating command for defining a target position of the working end, a master unit including a master arm having a manipulation end into which the content of manipulation is inputted by an operator, and a system controller configured to generate the slave operating command based on the content of manipulation inputted into the manipulation end. When a command corresponding to the content of manipulation is a command corresponding to a limit equivalent range corresponding to a limit of operation of at least one of the slave arm and the master arm, the system controller performs processing to give perception to the operator.

A control apparatus (20) includes a control device (21) and the control device (21) includes: a detector (214) that detects an entering person (P) entering a range (E1) of motion of an arm (11); and a limiter (215) that, upon detection of the entering person (P) entering the range (E1) of motion by the detector (214), sets a behavior prohibition range (E2) of the arm (11) where the arm (11) is kept from coming into contact with the entering person (P), thus limiting a behavior of the arm.

This disclosure describes systems, methods, and devices related to robotic point capture and motion control. A robotic device may synchronize one or more first axes of the robotic device with one or more second axes of a handheld device. The device may determine a welding path using the handheld device. The device may perform a weld by the traversing of an end effector of the robotic across the welding path, wherein the end effector comprises a welding tip.

A humanoid robot and its balance control method and computer readable storage medium are provided. Expected accelerations of each of a sole and centroid of a humanoid robot corresponding to a current expected balance trajectory and an expected angular acceleration of the waist corresponding to the current expected balance trajectory are obtained based on current motion data of the sole, the centroid, and the waist, respectively first, then an expected angular acceleration of each joint meeting control requirements of the sole, the centroid, and the waist while the robot corresponds to the current expected balance trajectory is calculated based on an angular velocity of the joint, the expected accelerations of the waist, the sole, and the centroid, respectively, and then each joint of the robot is controlled to move at the obtained expected angular acceleration of the joint based on the angular displacement of the joint.