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 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 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: 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: Methods and systems for improved haptic feedback using robotic arms are provided. In one embodiment, a haptic feedback system is provided that includes one robotic arm with at least one joint and one end effector. The end effector may be physically coupled to a user. The system may further include an external data connection to a computing device associated with an environment (e.g., a virtual environment, a physical environment). A controller may then be configured to receive force and torque information via the external data connection and role robotic arm based on the force and torque information to apply haptic feedback via the end effector to a user.

Abstract: A torque-controllable rotary actuator is provided that includes a chassis, a first and second motor, a series elastic element, and an output link. The first motor, the series elastic element, and the second motor may all rotate around a common axis, and may all be located within the same module, which may be at the joint of a robotic arm. Certain embodiments may include a first gearbox, which may be coupled to the first motor. The torque-controllable rotary actuator may also contain a torque sensor that is configured to measure a torque applied to the rotary actuator. The torque-controllable rotary actuator may also include a second gearbox coupled directly to the second motor and/or a brake coupled directly to the first motor.