Collaborative robot

A robot (1) comprising at least one articulated arm having a base (3) for members (3, 4-1,..., 4-5, 5), an end effector (5) and a plurality of links (4-1,..., 4-6) wherein each link (4-1,..., 4-6) is movably connected to the other two of the members (3, 4-1,..., 4-6, 5) by a respective joint (7-1,..., 7-6), at least one sensor (10, 9), the invention relates to an end effector (5) comprising a plurality of joints (7-1,..., 4-6, 5) for detecting an external force acting on any of the members (3, 4-1,..., 4-6, 5), and a controller (6) for controlling the movement of the joints (7-1,..., 7-6) in order to move the end effector (5) along a pre-programmed path (12). In case the sensor (9, 10) detects an external force, the controller (6) is adapted to employ a first release strategy to escape from the external force, to assess whether the first strategy is successful, and if not, to employ a second release strategy. 一种机器人(1)，包括至少一个铰接臂，铰接臂具有用于构件(3、4-1、...、4-5、5)的基部(3)、末端执行器(5)和多个连杆(4-1、...、4-6)，其中每个连杆(4-1、...、4-6)通过相