Master manipulator control apparatuses and robots including the same

A robot, comprising a robot body, an end effector, and a master manipulator, wherein the end effector is connected with the robot body, the robot body is electrically connected with a communication device, and the master manipulator is electrically connected with the communication device and the end effector, wherein the master manipulator includes an arm assembly including at least one arm joint mechanism;

• a wrist assembly movably connected with the arm assembly, the wrist assembly allowing an operator to perform a corresponding operation, wherein the wrist assembly includes at least one wrist joint mechanism;
• and
• a support assembly configured to support at least one of the arm assembly and the wrist assembly;
• a brake assembly including a brake controller and a brake, wherein:
• the at least one wrist joint mechanism includes a fourth joint mechanism connected with the arm assembly, and a fourth rotation axis corresponding to the fourth joint mechanism is parallel to a gravity direction of the wrist assembly;
• and
• the brake is connected with the fourth rotation axis, and the brake controller is configured to control operation of the fourth joint mechanism through the brake;
• wherein an operation state of the brake includes a disconnected state and a closed state, the disconnected state corresponds to a locked state of the fourth joint mechanism, the closed state corresponds to a released state of the fourth joint mechanism, and the brake controller is configured to:
• in response to a determination that the wrist assembly satisfies a first condition, generate a close instruction and send the close instruction to the brake, the close instruction being used to instruct the brake to be in the closed state;
• in response to a determination that the wrist assembly satisfies a second condition, generate a disconnecting instruction and send the disconnecting instruction to the brake, the disconnecting instruction being used to instruct the brake to be in the disconnected state;
• wherein the wrist assembly further includes a sixth joint mechanism, a sixth rotation axis corresponding to the sixth joint mechanism is parallel to the gravity direction of the wrist assembly, the first condition includes that a distance between the sixth rotation axis and a first limiter or a second limiter is less than a first threshold, the second condition includes that a distance between the sixth rotation axis and the first limiter or the second limiter is greater than a second threshold, and the second threshold is greater than or equal to the first threshold.