CPC B25J 9/0072 (2013.01) [B25J 9/106 (2013.01); B25J 11/005 (2013.01); B25J 13/085 (2013.01); B25J 17/0216 (2013.01)] | 20 Claims |
1. A robotic system comprising:
a support structure;
a movable platform;
a center serial chain connecting directly or indirectly a center of the movable platform to the support structure and comprising a first plurality of joints connected directly or indirectly to a linear sliding shaft;
a plurality of outer serial chains disposed radially outward of the center serial chain, wherein each of the plurality of outer serial chains comprises a second plurality of joints connecting a bar directly or indirectly to the movable platform and the supporting structure;
a plurality of motors connected to the plurality of outer serial chains;
a sensor connected to the movable platform and configured to detect at least one of force or torque applied by a human operator on the movable platforms and generate a signal indicative of the at least one of force or torque applied; and
a control module configured to control the plurality of motors based on the signal to assist the human operator in at least one of moving or rotating the movable platform.
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