Abstract: The present disclosure relates to a method for calibrating an articulated robot, a computer device and a non-temporary computer-readable storage medium. The method includes: acquiring desired trajectory information regarding a desired trajectory of the end-effector; acquiring load information regarding a load subjected by the articulated robot, the load including a gravity load, an inertial load and an external load; obtaining, based on the desired trajectory information, joint position data indicating a joint position of the articulated robot; obtaining, based on the joint position data and the load information, end position change data indicating an end position change of the end-effector; and compensating, based on the end position change data, a position error of the end-effector according to a predetermined compensation strategy.

Abstract: A parallel robot includes a base, a moving platform, a plurality of branch chains, a plurality of driving devices, a plurality of transmission devices, a plurality of force/torque sensors, and a control device. The transmission device includes an output end. Each branch chain includes a first end connected to the output end and a second end connected to the moving platform. The driving device is configured to drive the transmission device to move. The force/torque sensor is configured to sense the force and/or torque between the driving device and the output end. The control device is configured to adjust a power of the driving device according to the force and/or torque sensed by the force/torque sensor, a target force or displacement to be loaded on the moving platform, and a preset rule until the force and/or torque sensed by the force/torque sensor matches the target force or displacement.

Abstract: A robot teleoperation method, a robot and a storage medium are disclosed. The method includes: acquiring an image of a target object, and generating a point cloud of the target object according to the image; establishing a virtual fixture based on a geometric feature corresponding to the point cloud; the virtual fixture including at least one of a forbidden region virtual fixture or a guidance virtual fixture; determining a reference point of the virtual fixture and a control point of the robot, and determining a virtual force of the virtual fixture acting on the control point according to a distance between the reference point and the control point; and determining a control force applied to the control point based on the virtual force.

Abstract: A method for aligning a robot end with a target object includes: acquiring a target direction for a surface to be aligned; selecting a control point, and establishing a coordinate system of the control point; controlling the surface to move along a direction such that the z-axis points in the target direction; rotating, when the surface is determined to be in contact with the target object, the surface with respect to the target object actively and keeping the surface in contact with the target object, and acquiring a first displacement of the control point; determining a relationship between the first displacement and the z-axis; determining, based on the relationship between the first displacement and the z-axis, whether a current rotation direction is a correct alignment direction; and controlling, based on the determination, the surface to be rotated.

Abstract: The present application relates to a cable detection method, a robot and a storage device. The method includes: acquiring an RGB image of a cable and a corresponding depth image; performing image segmentation on the RGB image, and merging pixel points in the RGB image, which are adjacent in position and have similar pixel features, into super-pixels; determining a target similarity between at least some of the super-pixels and the adjacent super-pixels, and detecting cables in the RGB image according to the target similarity between at least some of the super-pixels and the adjacent super-pixels; determining whether the cables are overlapped; and when it is detected that the cables are overlapped, determining an overlapping relationship between the detected cables according to the depth image.

Abstract: A gripper with at least one gripping jaw is provided. The at least one gripping jaw includes a base, a gripping portion configured to contact an object, a flexible member connecting the base and the gripping portion, and a sensor assembly located between the base and the gripping portion. The flexible member is configured to enable the gripping portion to deflect with respect to the base when the gripping portion is subjected to a force in a first direction from the object. The sensor assembly is configured to generate a signal in response to the deflection of the gripping portion.

Abstract: A transmission device with multiple degrees of freedom includes a first platform, a second platform, a fixing platform, first branch chains, second branch chains and transmission assemblies. The first branch chains, the first platform (10) and the fixing platform form a first multiple degrees of freedom parallel mechanism having an output end. The second branch chains, the second platform and the fixing platform form a second multiple degrees of freedom parallel mechanism having an input end. A structure of the second branch chain is similar to a structure of the first branch chain, and a size of the second branch chain is enlarged or reduced in proportion to that of the first branch chain. The transmission assemblies are configured to couple the output end to the input end.

Abstract: A multidimensional joint is provided and includes a body and a drive assembly. The body includes a first motor and a second motor. The drive assembly includes a planetary carrier rotatably coupled to the body, a first drive gear driveably coupled to the first motor, a second drive gear driveably coupled to the second motor, at least one driven gear and at least one output end. The first and the second drive gears are rotatably mounted on the planetary carrier about a first axis, and the at least one driven gear is rotatably mounted on the planetary carrier about a second axis in a different direction from the first axis. The first and the second drive gears are engaged with the at least one driven gear respectively. The at least one driven gear is coupled to the at least one output end configured to output torque to a load.

Abstract: A safety system of a joint assembly which includes a motor and a brake coupled to the motor is provided. The safety system includes at least one set of sensors configured to detect at least one parameter associated with safety function of the joint assembly, a driving circuit coupled to the motor and the brake and arranged within the joint assembly; and a first processor and a second processor arranged within the joint assembly. The first processor and the second processor configured to receive a signal indicative of the at least one parameter from the at least one set of sensors and send a stop command directly to the driving circuit to stop the motor in response to a joint fault determined based on the signal received from the at least one set of sensors.

Abstract: A robotic arm includes multiple joints and multiple links. The links are connected successively by the joints. At least two of the joints may each comprise a sensor configured to measure force and torque information in multiple DOF of its respective joint. In certain implementations, the sensor may be located between an input part of the respective one of the at least two joints and an output part of the respective one of the at least two joints.

Abstract: The present disclosure relates to a kinematics calibration method for a robot with multiple degrees of freedom. The robot includes a base, an end effector, and a plurality of links connected by joints. The method includes locking part of the multiple degrees of freedom by limiting the base and the end effector impose a limitation of degree of freedom; moving the robot to perform a first movement and accordingly obtaining a first set of data associated with joint angles and a first actual motion of the end effector; calculating a first theoretical motion of the end effector based on the first set of data and initial kinematics parameters; and updating the initial kinematics parameters of the robot to obtain a first set of updated kinematics parameters based on the first theoretical motion and the first actual motion.

Abstract: An actuator of a robotic system and a robot are provided. The actuator may include a center shaft, an outer shell connected to the center shaft, an input flange, and an output flange coaxially installed on the center shaft, a torque sensor and a motor assembly. The input flange and the output flange are radially fixed with at least one of the outer shell and the center shaft through a plurality of bearings. The torque sensor is connected between the input flange and the output flange, and configured to measure a torque transmitted by the input flange and the output flange. The motor assembly is coupled to the input flange. Disturbances transmitted from either side of the torque sensor may be isolated from the torque sensor. Therefore, the reliability of the readings of the torque sensor may be improved.

Abstract: An axial force sensor assembly for detecting an axial force is provided, which includes a mounting bracket and a first sensor assembled on the mounting bracket. The mounting bracket includes an inner mounting portion, an outer mounting portion and a multi-layer connecting member connected between the inner mounting portion and the outer mounting portion. The multi-layer connecting structure is more compliant in a direction of the axial force to be detected than in other loading directions. The first sensor is configured to detect a relative displacement between the inner mounting portion and the outer mounting portion in the direction of the axial force to be detected.

Abstract: The present disclosure relates to a gripper and a robot. The gripper according to the present disclosure includes at least three guiding rails arranged head to tail in sequence, at least three gripping fingers respectively disposed on the at least three guiding rails and a driving mechanism. A first end of each of the gripping fingers is slidably connected to the corresponding guiding rail and a second end of each of the gripping fingers is for contacting the object to be gripped. The driving mechanism drives each of the gripping fingers to move along the corresponding guiding rail, so that the second end of each of the gripping fingers moves toward or away from a gripping center of the gripper.

Abstract: A sensing assembly includes a magnet assembly configured to be coupled to a first component and a pair of hall-effect sensors configured to be coupled to a second component. The pair of hall-effect sensors are configured to generate substantially identical signal changes in response to a first relative motion in a first direction between the magnet assembly and the pair of hall-effect sensors, and to generate substantially equal but opposite signal changes in response to a second relative motion in a second direction between the magnet assembly and the pair of sensors. The first direction is perpendicular to the second direction.

Abstract: A gripper includes a lead screw, a first gripping jaw and a second gripping jaw. The lead screw includes a spiral portion having at least one first spiral track and at least one second spiral track with opposite helical directions. A portion of a coverage of the first spiral track overlaps a portion of a coverage of the second spiral track along a length of the spiral portion. The first gripping jaw has a first pin extending into the first spiral track, and the second gripping jaw has a second pin extending into the second spiral track. When the spiral portion rotates, the first spiral track drives the first pin to allow a first linear movement of the first gripping jaw, and the second spiral track drives the second pin to allow a second linear movement of the second gripping jaw opposite to the first linear movement.