A robotic surgical system includes a controller configured or programmed to calculate an operation speed signal, to calculate a first filtered signal, to calculate a limited signal, to calculate a second filtered signal, and calculate an output position signal based on the second filtered signal.

The present disclosure relates to the technical field of electronic devices, and discloses a method and an apparatus for controlling motor vibration. The method includes: obtaining an input signal based on an expected motor vibration curve, inputting a digital signal sequence of the input signal to an equalizer, and obtaining an output signal after processing by the equalizer, and inputting the output signal to a motor to control vibration of the motor, where the equalizer is a digital filter constructed based on a damping factor and a resonance frequency .sub.n of the motor, and a preset system sampling frequency f.sub.s, a preset damping factor .sub.d, and a preset cut-off frequency .sub.d. The method and apparatus provided in embodiments of the present disclosure have an advantage that an actual vibration effect of the motor can be consistent with an expected motor vibration curve.

Provided is a tool-path generating device that includes a point-sequence generating unit that generates a point sequence that represents a tool path on the basis of a machining program, and a smoothing unit that smooths the generated point sequence. The smoothing unit includes a filter-length setting unit that sets filter lengths that are applied to the points such that a pre/post-smoothing divergence amount of each point in the point sequence is equal to or less than a first threshold, a filter-length changing unit that changes the set filter lengths such that an absolute value of a difference between the filter lengths applied to adjacent points in the point sequence is equal to or less than a second threshold, and a filter processing unit that performs filter processing on the basis of the changed filter lengths.

The present disclosure relates to the technical field of electronic devices, and discloses a method and an apparatus for controlling motor vibration. The method includes: obtaining an input signal based on an expected motor vibration curve, inputting a digital signal sequence of the input signal to an equalizer, and obtaining an output signal after processing by the equalizer, and inputting the output signal to a motor to control vibration of the motor, where the equalizer is a digital filter constructed based on a damping factor and a resonance frequency .sub.n of the motor, and a preset system sampling frequency f.sub.s, a preset damping factor .sub.d, and a preset cut-off frequency .sub.d. The method and apparatus provided in embodiments of the present disclosure have an advantage that an actual vibration effect of the motor can be consistent with an expected motor vibration curve.

Provided is a tool-path generating device that includes a point-sequence generating unit that generates a point sequence that represents a tool path on the basis of a machining program, and a smoothing unit that smooths the generated point sequence. The smoothing unit includes a filter-length setting unit that sets filter lengths that are applied to the points such that a pre/post-smoothing divergence amount of each point in the point sequence is equal to or less than a first threshold, a filter-length changing unit that changes the set filter lengths such that an absolute value of a difference between the filter lengths applied to adjacent points in the point sequence is equal to or less than a second threshold, and a filter processing unit that performs filter processing on the basis of the changed filter lengths.

A robotic surgical system includes a controller configured or programmed to calculate an operation speed signal, to calculate a first filtered signal, to calculate a limited signal, to calculate a second filtered signal, and calculate an output position signal based on the second filtered signal.

Exemplary embodiments provide a rules-based approach to identifying a next pick for a robotic gripper or series of robotic grippers in a robotic pick-and-place system. A filtering process eliminates occluded objects or those likely to cause collisions, and a sorting process prioritizes the remaining items to identify the best pick. The filtering and sorting process may be employed in conjunction with machine-learning-based object detection and/or tracking, but can provide a more efficient and faster procedure than a system relying solely on an ML approach. The rules-based approach can be applied to quickly select a suitable target that can be best approached by a gripper. This may improve the accuracy and/or throughput of the system. Moreover, the rules can be adjusted to achieve different effects, such as improved throughput on a given robotic arm, load balancing between different robotic arms, different priorities or different arms, etc.