A robot system according to an embodiment includes an arm mechanism that is articulated, a parallel link mechanism, an end effector, a detector, and a control device. The parallel link mechanism includes a fixed part mounted to a distal part of the arm mechanism, and a movable part that is mounted to the fixed part via multiple parallel links and is movable with respect to the fixed part. The end effector is mounted to the movable part. The detector is provided for detecting a position or orientation of a control point. The control device controls the arm mechanism and the parallel link mechanism. The control device performs a first operation of setting a posture of the control point to a first posture, and a second operation of setting the posture of the control point to a task posture in which the end effector performs a task.

A robotic system for presenting a payload within a workspace includes a pair of serial robots configured to connect to the payload, a parallel robot coupled to a distal end of one of the serial robots such that the parallel robot is disposed between the distal end and the payload, a sensor situated within a kinematic chain extending between the distal end and the payload, and a robot control system (RCS). The sensor outputs a sensor signal indicative of a measured property of the payload. The RCS includes a coordinated motion controller configured to control the serial robots, and a corrective motion controller configured to control the parallel robot. Parallel robot control occurs in response to the sensor signal concurrently with control of the serial robots in order to thereby modify the property of the payload in real-time.

A robotic system for presenting a payload within a workspace includes a pair of serial robots configured to connect to the payload, a parallel robot coupled to a distal end of one of the serial robots such that the parallel robot is disposed between the distal end and the payload, a sensor situated within a kinematic chain extending between the distal end and the payload, and a robot control system (RCS). The sensor outputs a sensor signal indicative of a measured property of the payload. The RCS includes a coordinated motion controller configured to control the serial robots, and a corrective motion controller configured to control the parallel robot. Parallel robot control occurs in response to the sensor signal concurrently with control of the serial robots in order to thereby modify the property of the payload in real-time.

A hybrid master-slave mapping method includes the following steps: acquiring a current position and a target position of an end point of a robotic arm; decomposing a displacement from the current position to the target position into a vertical direction and a horizontal plane to obtain a vertical displacement position and a horizontal displacement position; determining a first control amount of a multi-degree-of-freedom parallel platform according to the vertical displacement position, and determining a second control amount of a passive arm according to the horizontal displacement position; controlling the multi-degree-of-freedom parallel platform according to the first control amount, and controlling the passive arm according to the second control amount.