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US 10,635,074 B2Granted
Robust intuitive operating method by touching a manipulator
AssigneeKUKA Deutschland GmbH
InventorsGünter Schreiber, Bettina Pfaff
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Abstract
A method for controlling a manipulator includes releasing the manipulator in reaction to a release request by an operator, wherein the recognition of the release request involves monitoring the variation over time of a measured value that is characteristic of a state of the manipulator. Increased robustness of the recognition of the release request results.
Claims15
A method for controlling a manipulator, comprising:
- detecting a release request based on a force exerted by an operator on the manipulator;
- and
- releasing the manipulator in response to detecting the release request;
- wherein detecting the release request comprises tracking at least one measurement value that characterizes the state of the manipulator;
- and
- wherein releasing the manipulator comprises releasing the manipulator with increased rigidity in response to a determination that a dynamic model of the manipulator is invalid.
3 more elements
A method for controlling a manipulator, comprising:
- detecting a release request based on a force exerted by an operator on the manipulator;
- and
- in response to detecting the release request, moving the manipulator a predetermined amount and subsequently locking the position of the manipulator.
Dependencies are inferred from the claim text.