Abstract: A safety apparatus and method for monitoring the position of a servo joint in a servo joint driving system are introduced. The safety apparatus includes modules for measuring powerline signals to determine a servo motor position and/or speed safely. By analyzing the synchronization between the motor and powerline signals, loss of synchronization, unexpected resistance experienced by the motor, and other fault conditions are detected so that power can be cut from the servo motor for safety. The safety apparatus and method achieve a functional safety position and/or speed generating and monitoring and reduce reliance on expensive position sensors and encoders. Robots utilizing the safety apparatus and a method of its use are also disclosed.

Abstract: A robot system is provided that includes movable parts, one or more object detecting sensors, and one or more processors, wherein the one or more object detecting sensors is dispose at or near the elbow, the wrist, or the position between the elbow and the wrist of the robot. Multiple embodiments are introduced for the implementation of the object detection of the robot system.

Abstract: A robot system comprising movable parts, a casing element, a force limiting sensor, a joint position sensor, and one or more processors, wherein the casing element comprises a vibration actuator. Multiple embodiments are introduced for the implementation of the casing element include haptic warning and proximity sensing. Furthermore, means to use the casing element to guide the robot and generate haptic effect by the vibration actuator to assist the user in a human-robot collaboration and/or guiding function are also disclosed.

Abstract: A robot system for human-robot collaboration is disclosed that includes one or more proximity sensing elements disposed on the movable parts of the robot, joint position sensing sensors, and a safety control module connects the proximity sensing element and joint position sensing sensors and monitors the speed of the robot and the proximity distance to the objects and stop the robot safely when speed exceed the set limit. The safety control module switches the safety status of the robot when a set proximity distance threshold is triggered. Then, multiple embodiments of the safety status triggered by proximity sensing are introduced for different processes of the human-robot collaboration, includes separation monitoring, force limiting for bumping, and manipulation of the robot. Furthermore, embodiments of utilizing different types of sensors to implement the proximity sensing elements are also disclosed.

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 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 safety system for allowing a robot having a controller and at least one movable member to be manually guided by a user includes a sensor module is disposed on a surface of the robot that comprises a user-interaction sensor that produces a sensing signal. The sensor module further includes a resilient member having an outer surface. A motion control module is adapted to move the robot through the controller according to a first threshold of the sensing signal. A safety module is adapted for stopping movement of the robot through the controller according to a second threshold of the sensing signal and represents a potential threat of harm to the user.

Abstract: A safety apparatus and method for monitoring the position of a servo joint in a servo joint driving system are introduced. The safety apparatus includes modules for measuring powerline signals to determine a servo motor position and/or speed safely. By analyzing the synchronization between the motor and powerline signals, loss of synchronization, unexpected resistance experienced by the motor, and other fault conditions are detected so that power can be cut from the servo motor for safety. The safety apparatus and method achieve a functional safety position and/or speed generating and monitoring and reduce reliance on expensive position sensors and encoders. Robots utilizing the safety apparatus and a method of its use are also disclosed.

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 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: 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.

Abstract: A method for programming a robot in a vision base coordinate is provided. The method includes the following steps. A robot is drawn to an operation point. The coordinates of the operation point in a photo operation are set as a new point. A teaching image is captured and a vision base coordinate system is established. A new point is added according to the newly established vision base coordinate system. When the robot is operating, the robot is controlled to capture an image from a photo operation point. A comparison between the captured image and a teaching image is made. The image being the same as the teaching image is searched according to the comparison result. Whether the vision base coordinate system maintains the same corresponding relation as in the teaching process is checked. Thus, the robot can be precisely controlled.

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.

Abstract: A programming method for a robot arm includes setting and saving operational configurations of the robot arm, establishing an operation process of the robot arm, selecting the operational position icon for applying to the operation sub-process, displaying a selected operational position icon and an operational configuration sub-icon, modifying an operational configuration displayed on the operational configuration sub-icon for facilitating to execute a programming process of the robot arm.

Abstract: A method for programming a robot in a vision base coordinate is provided. The method includes the following steps. A robot is drawn to an operation point. The coordinates of the operation point in a photo operation are set as a new point. A teaching image is captured and a vision base coordinate system is established. A new point is added according to the newly established vision base coordinate system. When the robot is operating, the robot is controlled to capture an image from a photo operation point. A comparison between the captured image and a teaching image is made. The image being the same as the teaching image is searched according to the comparison result. Whether the vision base coordinate system maintains the same corresponding relation as in the teaching process is checked. Thus, the robot can be precisely controlled.

Abstract: A programming method for a robot arm includes setting and saving operational configurations of the robot arm, establishing an operation process of the robot arm, selecting the operational position icon for applying to the operation sub-process, displaying a selected operational position icon and an operational configuration sub-icon, modifying an operational configuration displayed on the operational configuration sub-icon for facilitating to execute a programming process of the robot arm.

Abstract: A robot arm with an image capturing function includes a body, a capture control device, a controller, and a display. When the robot arm is in an operation mode, the controller automatically controls the body to move a movable portion at one terminal of the body to move an eye in hand device disposed on the movable portion to capture images and search for objects. When the robot arm is in a manual mode, the movable portion is moved manually, and the capture control device next to the eye in hand device is controller manually to activate the eye in hand device to capture images and generate image files of predetermined objects, thereby simplifying the operation process of robot arm.

Abstract: An end effector controlling method includes the steps of obtaining the 3D physical information of an object, finding an appropriate sucking position by a vector programming method, generating a control command to control the sucking position of an end effector. The vector programming method includes the steps of creating a virtual platform and creating a virtual object on the virtual platform from the obtained 3D physical information, obtaining reference planes from each reference axis, computing a curve of surface interactions of each reference plane and the virtual object separately, and searching a sucking position on each curve according to a reachable range of a finger. of the end effector.