Abstract: An encoder module adapted for a robotic arm is provided and includes a bracket, a bearing embedded in the bracket, an adaptor ring embedded in the bearing, a circuit board fixed on the bracket and an encoder plate. The bracket includes a ring-shaped structure. The adaptor ring includes a ring-shaped flange portion and a protruding portion. The protruding portion is located adjacent to an inner periphery of the ring-shaped flange portion and protrudes from the ring-shaped flange portion. An outer periphery and an inner periphery of the bearing engage with an inner periphery of the ring-shaped structure and an outer periphery of the protruding portion respectively. The circuit board includes a detector. The encoder plate is fixed on the ring-shaped flange portion and located at a position corresponding to the detector and between the detector and the adaptor ring. The encoder module has less accumulated error and improved accuracy.

Abstract: A position detection module and a position detection system thereof are provided. The position detection module includes a first output port, a second output port, a third output port and a fourth output port. The first output port outputs a first detection signal, the second output port outputs a first position signal, the third output port outputs a second detection signal, and the fourth output port outputs a second position signal. Thus, the design of two sets of detection signals and position signals enables the position detection module to be fault-tolerant for meeting the requirements of safe dual-channel.

Abstract: A dual-loop torque sensing system includes four position sensors disposed in the motor and the reduction drive to form a dual-loop for detection to calculate the output torques. The detection of the position sensors is for confirming abnormality of the dual-loop or the position sensors. A failure alarm is issued to enhance the safety of the working environment.

Abstract: A robot system with a hand-guiding function is disclosed. The robot system selects the hand-guiding function or non-hand-guiding function of an enable device by a mode option mechanism during the operation of a teach mode or an automatic mode. When selecting the hand-guiding function, the enable device has both the enabling and the hand-guiding function to easily hand-guiding the robot to operate.

Abstract: A detection system and detection method for the sensors of a robot. A detection system installs three sensors at the motor side and power output terminal of the robot. A detection unit detects the normal or abnormal state of three sensors to index the abnormal sensor for maintenance, and two normal sensors are selected for keeping the robot safety operation without stop.

Abstract: A safety system presets a corresponding safety module and a safety function suitable for each operation mode. When a mode switching device switches among the operation modes of the robot, the safety system starts the corresponding safety module and the safety function for the chosen operation mode to ensure the special safety module and safety function for each operation mode.

Abstract: A calibration device fora 3D (three dimensional) camera and a robotic arm includes three plates with fixed relative positions and non-parallel separation disposed on a mount. Three spatial planes extending from the three plates intersect at a positioning point for external parameter correction. A calibration method for coordinates of a 3D (three dimensional) camera and a robotic arm using the calibration device is also specified in detail.

Abstract: A method for calibrating a 3D camera includes arranging a 3D object and a background with contrast color on surfaces, and capturing the 3D object to get an image by a 2D camera and capturing a point cloud by the 3D camera in a one-pass operation. The raw colors of the 3D object and the background of the point cloud are separated and recorded. The point cloud of the 3D object and the background are transformed into the position of the corresponding pixel in the image to get transformed colors. The missing score is computed based on color changes of the point cloud. The transform parameter transforming the coordinate systems of the cameras is optimized to reduce the missing score, so as to quickly calibrate the 3D camera.

Abstract: A dual-loop torque sensing system includes four position sensors disposed in the motor and the reduction drive to form a dual-loop for detection to calculate the output torques. The detection of the position sensors is for confirming abnormality of the dual-loop or the position sensors. A failure alarm is issued to enhance the safety of the working environment.

Abstract: A robot safety weight compensation system and method calculate a difference between an estimated torque calculated by a dynamics model and a detected torque to form a weight tolerance. When the weight tolerance exceeds a predetermined trigger condition, an error notification is output, and the robot is brought to a safe state. When the weight tolerance is within a predetermined trigger condition, a weight compensation information is sent to correctly compensate the weight held by a robot.

Abstract: A plurality of safety monitoring units are set on a plurality of loops of a safety monitoring system. A default test program is executed by each of the safety monitoring units. A length of test time of performing the default test program of each safety monitoring unit is compared with a length of verification time to diagnose any abnormality of the safety monitoring unit. When the safety monitoring unit is diagnosed as being abnormal, an abnormality notification is issued, a power switch is immediately turned off to stop the operations of the robot.

Abstract: A control system and method for a safety state of a robot. After a followed device is selected by the selection device, a safety state of a controlled device is set to follow the followed device. When a sensing device detects an object leaving a working environment, the controlled device is controlled according to the state of the followed device. The controlled device is controlled to follow the followed device to leave the safety state to improve the safety of the robot.

Abstract: A robot safety system and method for an auto mode are used to set a stop state process which the robot operating the auto mode enters into a waiting state. A remind mechanism reminds an activation mechanism to start setting the robot to a safe state. The safety state is aborted by a hand-guiding enable device, and the robot may be hand guided to ensure the collaborative safety at the auto mode.

Abstract: A robot system with a hand-guiding function is disclosed. The robot system selects the hand-guiding function or non-hand-guiding function of an enable device by a mode option mechanism during the operation of a teach mode or an automatic mode. When selecting the hand-guiding function, the enable device has both the enabling and the hand-guiding function to easily hand-guiding the robot to operate.

Abstract: An encoder module adapted for a robotic arm is provided and includes a bracket, a bearing embedded in the bracket, an adaptor ring embedded in the bearing, a circuit board fixed on the bracket and an encoder plate. The bracket includes a ring-shaped structure. The adaptor ring includes a ring-shaped flange portion and a protruding portion. The protruding portion is located adjacent to an inner periphery of the ring-shaped flange portion and protrudes from the ring-shaped flange portion. An outer periphery and an inner periphery of the bearing engage with an inner periphery of the ring-shaped structure and an outer periphery of the protruding portion respectively. The circuit board includes a detector. The encoder plate is fixed on the ring-shaped flange portion and located at a position corresponding to the detector and between the detector and the adaptor ring. The encoder module has less accumulated error and improved accuracy.

Abstract: The partitioning method for a working space of a robot includes defining the working space of the robot; setting a plurality of partitioning planes based on at least three non-collinear points in the working space; if the setting of the plurality of partitioning planes is completed, defining partitioning lines by intersecting the plurality of partitioning planes; dividing the plurality of partitioning planes into a plurality of designated sections and a plurality of extended sections based on the partitioning lines; combining the plurality of designated sections for constructing a full partitioning plane; partitioning the working space into two working regions based on the full partitioning plane; and setting the working region containing an origin of the robot as an operation region. Therefore, the partitioning process can be simplified.