Systems and methods of contact sensing and contact reaction of robotic arms

A robotic system, comprising:

• a robotic arm;
• one or more sensors;
• one or more processors;
• and
• memory storing instructions that, when executed by the one or more processors, cause the one or more processors to:
• detect a contact force or torque on the robotic arm exerted by an external object via the one or more sensors;
• and
• in accordance with a determination that the contact force or torque is greater than or equal to a lower reaction force or torque limit, reduce a velocity of the robotic arm, wherein the reduced velocity is of a null space motion of the robotic arm.

A robotic system, comprising:

• a robotic arm;
• one or more sensors;
• one or more processors;
• and
• memory storing instructions that, when executed by the one or more processors, cause the one or more processors to:
• detect, via the one or more sensors, a contact force or torque that is exerted on the robotic arm by an external object;
• and
• in response to detecting the contact force or torque, in accordance with a determination that a magnitude of the contact force or torque is between a lower contact force or torque limit and an upper contact force or torque limit, enable a first set of controlled movements on the robotic arm in accordance with the detected contact force or torque;
• receive a second user command comprising a requested velocity of the robotic arm;
• in accordance with the determination that the magnitude of the torque is between the lower torque limit and the upper torque limit:
• determine a direction of the torque;
• determine a third angle formed by the direction of the torque and the requested velocity of the robotic arm;
• in accordance with a determination that the third angle is within a third angular threshold, enable movement the robotic arm at the requested velocity;
• and
• in accordance with a determination that the third angle exceeds the third angular threshold, disable movement of the robotic arm.