Abstract: A method and apparatus for determining a trajectory of a robot's end effector are disclosed. In an embodiment, the apparatus includes a force obtaining device to obtain a collision force of the end effector of the robot, caused by a collision of the end effector upon the collision being detected; and a trajectory determining device to determine a second trajectory of the end effector based on the collision force of the end effector obtained, and based on a recorded first trajectory of the end effector. The recorded first trajectory is a trajectory recorded before the collision, and the second trajectory is a trajectory determined after the collision. As such, an efficient protection for the robot and its working environment at the moment of collision may be achieved.

Abstract: An interconnection device, a communication method, and a system including a robot are disclosed. In an embodiment, the interconnection device includes a first OPC UA interface, configured to establish connection between the interconnection device and an OPC UA device; and an ROS interface, in communication with the first OPC UA interface. The ROS interface includes: at least one ROS node module, configured to perform communication between the OPC UA device and an ROS device; an ROS client library module, configured to provide a function library to be called when the ROS node module performs the communication; and an ROS core module, configured to manage the ROS node module in the ROS interface unit and a node module in the ROS device. Communication between the OPC UA device and the ROS device is achieved via the interconnection device and the communication method.

Abstract: An interconnection device, a communication method, and a system including a robot are disclosed. In an embodiment, the interconnection device includes a first OPC UA interface, configured to establish connection between the interconnection device and an OPC UA device; and an ROS interface, in communication with the first OPC UA interface. The ROS interface includes: at least one ROS node module, configured to perform communication between the OPC UA device and an ROS device; an ROS client library module, configured to provide a function library to be called when the ROS node module performs the communication; and an ROS core module, configured to manage the ROS node module in the ROS interface unit and a node module in the ROS device. Communication between the OPC UA device and the ROS device is achieved via the interconnection device and the communication method.

Abstract: A method and apparatus for determining a trajectory of a robot's end effector are disclosed. In an embodiment, the apparatus includes a force obtaining device to obtain a collision force of the end effector of the robot, caused by a collision of the end effector upon the collision being detected; and a trajectory determining device to determine a second trajectory of the end effector based on the collision force of the end effector obtained, and based on a recorded first trajectory of the end effector. The recorded first trajectory is a trajectory recorded before the collision, and the second trajectory is a trajectory determined after the collision. As such, an efficient protection for the robot and its working environment at the moment of collision may be achieved.