Device and method for performing open-loop and closed-loop control of a robot manipulator

A robot comprising:

• a robot manipulator having an end effector, driven by a number M of actuators ACTm where m=1, 2, . . . , M;
• and
• a device to perform open-loop and closed-loop control of the robot manipulator, the device comprising:
• a first unit configured to register and/or make available an external force wrench {right arrow over (F)}ext(t)={{right arrow over (f)}ext(t),{right arrow over (m)}ext(t)} acting on the end effector, where:
• {right arrow over (f)}ext(t):=external force acting on the end effector,
• {right arrow over (m)}ext(t):=external torque acting on the effector;
• and
• a controller connected to the first unit and the actuators ACTm, the controller comprising a first controller R1 and a second controller R2 connected therewith, the first controller R1 is a force controller, and the second controller R2 is an impedance controller, an admittance controller, a position controller, or a cruise controller, wherein the controller determines actuating variables um(t), by which the actuators ACTm are actuated in such way that when the end effector contacts the surface of an object, the end effector acts on the object with a desired force wrench {right arrow over (F)}D(t)={{right arrow over (f)}D(t),{right arrow over (m)}D(t)}, wherein the actuating variables of the controller um(t)=um,R1(t)+um,R2(t), where:
• {right arrow over (f)}D(t):=predefined force,
• {right arrow over (m)}D(t):=predefined torque,
• um,R1(t):=actuating variables of the first controller R1, and
• um,R2(t):=actuating variables of the second controller R2,
• wherein the first controller R1 is embodied and configured in such way that an actuating variable um,R1(t) is determined as product of a variable um,R1(t)* output by controller R1 and a function S(v(t)), where:
• um,R1(t)=S(v(t))·um,R1(t)*,
• v(t)=v({right arrow over (F)}D(t),{right arrow over (R)}(t)),
• v(t)∈[va,ve],
• S(v(t)):=a monotonically decreasing function of v(t) that depends on {right arrow over (F)}D(t) and {right arrow over (R)}(t), and
• [va,ve]:=a predefined definition area of the variable v(t);
• or
• wherein the first controller R1 is embodied and configured in such way that the actuating variable um,R1(t) output by controller R1 is determined as a Q-dimensional function S*(v*(t),um,R1(t)*), where:
• um,R1(t)=S*(v*(t),um,R1(t)*),
• v*(t)=v*({right arrow over (F)}D(t),{right arrow over (R)}(t))=[v1*({right arrow over (F)}D(t),{right arrow over (R)}(t)), . . . ,vQ*({right arrow over (F)}D(t),{right arrow over (R)}(t))]
• v*(t)=[v1*(t),v2*(t), . . . ,vQ*(t)],
• v1*(t)∈[v1a,v1e],v2*(t)∈[v2a,v2e], . . . ,vQ*(t)∈[vQa,vQe],
• S*(v*(t),um,R1(t)*):=a function where influence of um,R1(t)* is monotonically decreasing, and
• [v1a,v1b], . . . :=component-wise predefined definition area of Q-dimensional variable v*(t);
• and
• wherein:
• um,R1(t)*:=a variable determined and output by the first contoller R1 to generate the desired force wrench {right arrow over (F)}D(t), and
• {right arrow over (R)}(t):=a control error of the controller.

A method of open-loop and closed-loop control of a robot manipulator having an end effector, driven by a number M of actuators ACTm, where m=1, 2, . . . , M, the method comprising:

• registering and/or making available an external force wrench {right arrow over (F)}ext(t)={{right arrow over (f)}ext(t),{right arrow over (m)}ext(t)} acting on the end effector, where:
• {right arrow over (f)}ext(t):=external force acting on the end effector,
• {right arrow over (m)}ext(t):=external torque acting on the end effector;
• and
• determining by using a controller, the controller comprising a first controller R1, which is a force controller, and a second controller R2 connected therewith, the second controller R2 is an impedance controller, an admittance controller, a position controller, or a cruise controller, actuating variables um(t), by which the actuators ACTm are actuated such that when the end effector contacts a surface of an object, the end effector acts on the object with a desired force wrench {right arrow over (F)}D (t)={{right arrow over (f)}D(t),{right arrow over (m)}D(t)}, wherein the actuating variables of the controller um(t)=um,R1(t)+um,R2(t), where:
• {right arrow over (f)}D(t):=predefined force,
• {right arrow over (m)}D(t):=predefined torque,
• um,R1 (t):=actuating variables of the first controller R1, and
• um,R2(t):=actuating variables of the second controller R2,
• wherein the first controller R1 determines an actuating variable um,R1(t) as product of a variable um,R1(t)* output by the controller R1 and a function S(v(t)), where:
• um,R1(t)=S(v(t))·um,R1(t)*,
• v(t)=v({right arrow over (F)}D(t),{right arrow over (R)}(t)),
• v∈[va,ve],
• S(v(t)):=a monotonically decreasing function of v(t) that depends on {right arrow over (F)}D(t) and {right arrow over (R)}(t), and
• [va,ve]:=a predefined definition area of the variable v(t);
• or
• wherein the first controller R1 is embodied and configured in such war that the actuating variable um,R1(t) output by controller R1 is determined as a Q-dimensional function S*(v*(t),um,R1(t), where:
• um,R1(t)=S*(v*(t),um,R1(t)*),
• v*(t)=v*({right arrow over (F)}D(t),{right arrow over (R)}(t))=[v1*({right arrow over (F)}D(t),{right arrow over (R)}(t)), . . . ,vQ*({right arrow over (F)}D(t),{right arrow over (R)}(t))],
• v*(t)=[v1*(t),v2*(t), . . . ,vQ*(t)],
• v1*(t)∈[v1a,v1e],v2*(t)∈[v2a,v2e], . . . ,vQ*(t)∈[vQa,vQe],
• S*(v*(t), um,R1(t)*):=a function where influence of um,R1(t)* is monotonically decreasing, and
• [v1a,v1b], . . . :=component-wise predefined definition area of Q-dimensional variable v*(t);
• and
• wherein:
• um,R1(t):=a variable determined and output by the first controller R1 to generate the desired force wrench {right arrow over (F)}D(t), and
• {right arrow over (R)}(t):=a control error of the controller.

A system to perform open-loop and closed-loop) control of a robot manipulator having an end effector, driven by a number M of actuators ACTm, where m=1, 2, . . . , M, the system comprising:

• a data processing device;
• and
• storage medium storing instructions that, when executed by the data processing device, cause the data processing device to perform operation comprising:
• registering and/or making available an external force wrench {right arrow over (F)}ext(t)={{right arrow over (f)}ext(t),{right arrow over (m)}ext(t)} acting on the end effector, where:
• {right arrow over (f)}ext(t):=external force acting on the end effector,
• {right arrow over (m)}ext(t):=external torque acting on the end effector;
• and
• determining by using a controller, the controller comprising a first controller R1, which is a force controller, and a second controller R2 connected therewith, the second controller R2 is an impedance controller, an admittance controller, a position controller, or a cruise controller, actuating variables um(t), by which the actuators ACTm are actuated such that when the end effector contacts a surface of an object, the end effector acts on the object with a desired force wrench {right arrow over (F)}D(t)={{right arrow over (f)}D(t),{right arrow over (m)}D(t)}, wherein the actuating variables of the controller um(t)=um,R1(t)+um,R2(t), where:
• {right arrow over (f)}D(t):=predefined force,
• {right arrow over (m)}D(t):=predefined torque,
• um,R1(t):=actuating variables of the first controller R1, and
• um,R2(t):=actuating variables of the second controller R2,
• wherein the first controller R1 determines an actuating variable um,R1(t) as product of a variable um,R1(t)* output by the controller R1 and a function S(v(t)), where:
• um,R1(t)=S(v(t))·um,R1(t)*,
• v(t)=v({right arrow over (F)}D(t),{right arrow over (R)}(t)),
• v(t)∈[va,ve],
• S(v(t)):=a monotonically decreasing function of v(t) that depends on {right arrow over (F)}D(t) and {right arrow over (R)}(t), and
• [va,ve] a predefined definition area of the variable v(t);
• or
• wherein the first controller R1 is embodied and configured in such way that the actuating variable um,R1(t) output by controller R1 is determined as a Q-dimensional function S*(v*(t),um,R1(t)*), where:
• um,R1(t)=S*(v*(t),um,R1(t)*),
• v*(t)=v*({right arrow over (F)}D(t),{right arrow over (R)}(t))=[v1*({right arrow over (F)}D(t),{right arrow over (R)}(t)), . . . ,vQ*({right arrow over (F)}D(t),{right arrow over (R)}(t))],
• v*(t)=[v1*(t),v2*(t), . . . ,vQ*(t)],
• v1*(t)∈[v1a,v1e],v2*(t)∈[v2a,v2e], . . . ,vQ*(t)∈[vQa,vQe],
• S*(v*(t),um,R1(t)*):=a function where influence of um,R1(t)* is monotonically decreasing, and
• [v1a,v1b], . . . :=component-wise predefined definition area of Q-dimensional variable v*(t);
• and
• wherein:
• um,R1(t)*:=a variable determined and output by the first controller R1 to generate of the desired force wrench {right arrow over (F)}D(t), and
• {right arrow over (R)}(t):=a control error of the controller.

A non-transitory storage medium storing instructions to perform open-loop and closed-loop control of a robot manipulator having an end effector, driven by a number M of actuators ACTm, where m=1, 2, . . . , M, the instructions when executed by a data processing device cause the data processing device to perform operations comprising:

• registering and/or making available an external force wrench {right arrow over (F)}ext(t)={{right arrow over (f)}ext(t),{right arrow over (m)}ext(t)} acting on the end effector, where:
• {right arrow over (f)}ext(t):=external force acting on the end effector,
• {right arrow over (m)}ext(t):=external torque acting on the end effector;
• and
• determining by using a controller, the controller comprising a first controller R1, which is a force controller, and a second controller R2 connected therewith, the second controller R2 is an impedance controller, an admittance controller, a position controller, or a cruise controller, actuating variables um(t), by which the actuators ACTm are actuated such that when the end effector contacts a surface of an object, the end effector acts on the object with a desired force wrench {right arrow over (F)}D(t)={{right arrow over (f)}D(t),{right arrow over (m)}D(t)}, wherein the actuating variables of the controller um(t)=um,R1(t)+um,R2(t), where:
• {right arrow over (f)}D(t):=predefined force,
• {right arrow over (m)}D(t):=predefined torque,
• um,R1(t):=actuating variables of the first controller R1, and
• um,R2(t):=actuating variables of the second controller R2,
• wherein the first controller R1 determines an actuating variable um,R1(t) as product of a variable um,R1(t)* output by the controller R1 and a function S(v(t)), where:
• um,R1(t)=S(v(t))·um,R1(t)*,
• v(t)=v({right arrow over (F)}D(t),{right arrow over (R)}(t)),
• v(t)∈[va,ve],
• S(v(t)):=a monotonically decreasing function of v(t) that depends on {right arrow over (F)}D(t) and {right arrow over (R)}(t), and
• [va,ve]:=a predefined definition area of the variable v(t);
• or
• wherein the first controller R1 is embodied and configured in such way that the actuating variable um,R1(t) output by controller R1 is determined as a Q-dimensional function S*(v*(t),um,R1(t)*), where:
• um,R1(t)=S*(v*(t),um,R1(t)*),
• v*(t)=v*({right arrow over (F)}D(t),{right arrow over (R)}(t))=[v1*({right arrow over (F)}D(t),{right arrow over (R)}(t)), . . . ,vQ*({right arrow over (F)}D(t),{right arrow over (R)}(t))],
• v*(t)=[v1*(t),v2*(t), . . . ,vQ*(t)],
• v1*(t)∈[v1a,v1e],v2*(t)∈[v2a,v2e], . . . ,vQ*(t)∈[vQa,vQe],
• S*(v*(t),um,R1(t)*):=a function where influence of um,R1(t)* is monotonically decreasing, and
• [v1a,v1b], . . . :=component-wise predefined definition area of Q-dimensional variable v*(t);
• and
• wherein:
• um,R1(t)*:=a variable determined and output by the first controller R1 to generate the desired force wrench {right arrow over (F)}D(t), and
• {right arrow over (R)}(t):=a control error of the controller.