Switching a control of a robot into a manual operating mode
AssigneeKUKA Deutschland GmbH
InventorsMarc-Walter Ueberle, Matthias Rohmer, Tobias Reichl, Gunter Schreiber, Martin Mueller-Sommer, Uwe Bonin
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Abstract
A method for switching a control of a robot into a manual operating mode, wherein the robot is movable by a user manually applying at least one of a force or a torque upon the robot, includes detecting at least one of joint forces or joint torques of the robot, and triggering an error reaction in response to the switching and based on at least one of the detected joint forces and/or joint torques, target joint forces and/or target joint torques, or a pose of the robot.
Claims12
A method for switching a control of a robot into a manual operating mode wherein the robot is movable by a user manually applying at least one of a force or a torque upon the robot, the method comprising:
- detecting with a robot controller at least one of joint forces or joint torques exerted by a drive associated with at least one joint of the robot, wherein the detecting step is performed either by directly measuring the at least one of joint forces or joint torques by sensors or by indirectly measuring the at least one of joint forces or joint torques based on currents or voltages applied to control the drive;
- switching the control to the manual operating mode from a different operating mode;
- determining at least one external force or external torque acting on the robot using the detected joint forces or joint torques and a model of the robot;
- and
- triggering an error reaction during the switching in response to determining an error in the model and based on at least one of:
- the detected joint forces and/or joint torques,
- target joint forces and/or target joint torques, or
- a pose of the robot;
- wherein the error reaction comprises at least one of:
- limiting at least one of a motion speed or a work area of the robot, or
- increasing a virtual damping.
A controller for controlling a robot, the controller including programming code stored on a non-transient, computer-readable medium that, when executed by the controller, causes the controller to:
- detect at least one of joint forces or joint torques exerted by a drive associated with at least one joint of the robot, wherein the detecting is performed either by directly measuring the at least one of joint forces or joint torques by sensors or by indirectly measuring the at least one of joint forces or joint torques based on currents or voltages applied to control the drive;
- determine at least one external force or external torque acting on the robot using the detected joint forces or joint torques and a model of the robot;
- and
- trigger an error reaction during a switching of the robot into a manual operating mode that facilitates moving the robot by a user manually applying at least one of a force or a torque on the robot, the error reaction triggered in response to the determination of an error in the model and based on at least one of:
- the detected joint forces and/or joint torques,
- target joint forces and/or target joint torques, or
- a pose of the robot;
- wherein the error reaction comprises at least one of:
- limiting at least one of a motion speed or a work area of the robot, or
- increasing a virtual damping.
A computer program product including program code stored on a non-transient, computer-readable medium that, when executed by a computer, causes the computer to:
- detect at least one of joint forces or joint torques exerted by a drive associated with at least one joint of a robot, wherein the detecting is performed either by directly measuring the at least one of joint forces or joint torques by sensors or by indirectly measuring the at least one of joint forces or joint torques based on currents or voltages applied to control the drive;
- determine at least one external force or external torque acting on the robot using the detected joint forces or joint torques and a model of the robot;
- and
- trigger an error reaction during a switching of the robot into a manual operating mode that facilitates moving the robot by a user manually applying at least one of a force or a torque on the robot, the error reaction triggered in response to the determination of an error in the model and based on at least one of:
- the detected joint forces and/or joint torques,
- target joint forces and/or target joint torques, or
- a pose of the robot;
- wherein the error reaction comprises at least one of:
- limiting at least one of a motion speed or a work area of the robot, or
- increasing a virtual damping.
Dependencies are inferred from the claim text.