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: A method for assembling an operating member and an adapting member by a robot is provided. According to the method, the operating member is moved to the adapting member in an assembly direction until the operating member reaches the adapting member. A moving mode for adjusting the operating member is determined, in which the moving mode includes one or both of a moving-in-plane mode and a posture-adjusting mode. The operating member is moved in the determined moving mode and applied a force continuously in the assembly direction during movement. It is determined whether a preset condition for a completion of the assembling of the operating member and the adapting member is satisfied. And the movement of the operating member in the determined moving mode is stopped or the applied force is stopped when it is determined that the preset condition is satisfied.

Abstract: Methods and systems for improved control of robotic arms are presented. In one embodiment, a method is presented that includes predefining a plurality of motion primitives, which may include one or more preconditions and effects. A target state for a plurality of workpieces may be determined as well as an initial state of the plurality of workpieces. A sequence of operations may be generated based on the preconditions and/or effects of the motion primitives, as well as the target state and the initial state. Executing the sequence of operations may be capable of changing the plurality of workpieces from the initial state to the target state.

Abstract: A method for assembling an operating member and an adapting member by a robot is provided. According to the method, the operating member is moved to the adapting member in an assembly direction until the operating member reaches the adapting member. A moving mode for adjusting the operating member is determined, in which the moving mode includes one or both of a moving-in-plane mode and a posture-adjusting mode. The operating member is moved in the determined moving mode and applied a force continuously in the assembly direction during movement. It is determined whether a preset condition for a completion of the assembling of the operating member and the adapting member is satisfied. And the movement of the operating member in the determined moving mode is stopped or the applied force is stopped when it is determined that the preset condition is satisfied.

Abstract: A method, system, and non-transitory, computer-readable medium are provided for estimating a direction of gravity with respect to a robot. The method includes rotating a first joint. A first torque information of the first joint is recorded during rotation of the first joint. A second joint is then rotated. A second torque information of the second joint is recorded during rotation of the second joint. The direction of gravity is then estimated with respect to the robot based on the first torque information and the second torque information. The method provides an efficient way for determining the direction of gravity with respect to the robot.

Abstract: Methods and systems for insertion mounting workpieces are provided. In one embodiment, a method is provided that includes acquiring a position of the second fitting part of the receiving component, moving the first fitting part of the workpiece towards the second fitting part of the receiving component until the workpiece is in contact with the receiving component, and rotating the workpiece while pressing the workpiece towards the receiving component. The implementation of the present disclosure may be applied for various types of workpieces and receiving components and may overcome minor deviations of positions between the workpiece and the receiving component during the insertion operation, thereby improving the efficiency of the insertion operation.

Abstract: Methods and systems for improved control of robotic arms are presented. In one embodiment, a method is presented that includes predefining a plurality of motion primitives, which may include one or more preconditions and effects. A target state for a plurality of workpieces may be determined as well as an initial state of the plurality of workpieces. A sequence of operations may be generated based on the preconditions and/or effects of the motion primitives, as well as the target state and the initial state. Executing the sequence of operations may be capable of changing the plurality of workpieces from the initial state to the target state.

Abstract: A method, system, and non-transitory, computer-readable medium are provided for estimating a direction of gravity with respect to a robot. The method includes rotating a first joint. A first torque information of the first joint is recorded during rotation of the first joint. A second joint is then rotated. A second torque information of the second joint is recorded during rotation of the second joint. The direction of gravity is then estimated with respect to the robot based on the first torque information and the second torque information. The method provides an efficient way for determining the direction of gravity with respect to the robot.

Abstract: An industrial robot and a robot are provided. The industrial robot may include a number of links, a number of actuators connected by the links, a number of light devices and a controller. Each light device may be arranged around the respective actuator and between two adjacent links. The controller may be utilized to control each light device to indicate the state of the respective actuator. Since the light device is arranged around the actuator, a user of the robot may observe the light device at any position relative to the robot. Thus, the user may easily learn the state of the actuators of the robot based on the lighting of the corresponding light device.

Abstract: An industrial robot and a robot are provided. The industrial robot may include a number of links, a number of actuators connected by the links, a number of light devices and a controller. Each light device may be arranged around the respective actuator and between two adjacent links. The controller may be utilized to control each light device to indicate the state of the respective actuator. Since the light device is arranged around the actuator, a user of the robot may observe the light device at any position relative to the robot. Thus, the user may easily learn the state of the actuators of the robot based on the lighting of the corresponding light device.

Abstract: Methods and systems for insertion mounting workpieces are provided. In one embodiment, a method is provided that includes acquiring a position of the second fitting part of the receiving component, moving the first fitting part of the workpiece towards the second fitting part of the receiving component until the workpiece is in contact with the receiving component, and rotating the workpiece while pressing the workpiece towards the receiving component. The implementation of the present disclosure may be applied for various types of workpieces and receiving components and may overcome minor deviations of positions between the workpiece and the receiving component during the insertion operation, thereby improving the efficiency of the insertion operation.

Abstract: The present invention provides a workpiece contact state estimating device and a workpiece contact state estimation method to estimate an actual state of contact of a workpiece A with a peripheral object on the basis of a feasible contact acting force range, which is a feasible range of the value of a contact acting force (the force acting on a manipulator 1 generated by contact) prepared in advance for each of a plurality of types of contact states that are feasible as the states of contact of the workpiece A with the peripheral object, and a measurement value of the contact acting force at the time of contact of the workpiece A with the peripheral object.

Abstract: The present invention provides a workpiece contact state estimating device and a workpiece contact state estimation method to estimate an actual state of contact of a workpiece A with a peripheral object on the basis of a feasible contact acting force range, which is a feasible range of the value of a contact acting force (the force acting on a manipulator 1 generated by contact) prepared in advance for each of a plurality of types of contact states that are feasible as the states of contact of the workpiece A with the peripheral object, and a measurement value of the contact acting force at the time of contact of the workpiece A with the peripheral object.