# US 12,179,370 B2 · Method for operating a manipulator > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,179,370 B2 - Document ID: US12179370B2 - Status: Granted - Kind: B2 - Application number: 17/806,204 - Filed: 2022-06-09 - Published: 2022-12-15 - Granted: 2024-12-31 - Earliest claimed: 2021-06-10 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Andreas Rueb; David Geissler; Efim Kuhn; Fan Yang; Markus Groganz; Michael Danzberger; Peter Schlegel; Sebastian Siedler; Thomas Dickmann; Tobias Wolf - Web page: https://patentgrep.com/patent/US12179370B2 ## CPC - B25J 9/1692: {Calibration of manipulator} - B25J 13/088: {with position, velocity or acceleration sensors} - B25J 17/0208: {Compliance devices} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A method is for operating a manipulator that has a movement device, a compensating device, and a tool. In the method, a relative displacement of the compensating device, with respect to a target position, is sensed during setting-up and is taken into account in a subsequent control of the manipulator. ## Claims ### Claim 1 A method for operating a manipulator comprising at least one movement device, a compensating device, and a tool, wherein the manipulator is controlled via a control unit, wherein the compensating device comprises a first part and a second part, wherein the first part is fixedly connected to the at least one movement device, wherein the second part is operatively connected to the tool, wherein the at least one movement device is configured such that the tool alone is movable solely by the at least one movement device in at least two first degrees of freedom, wherein the compensating device is switchable between a first and a second operating state, wherein in the first operating state the first part is substantially rigidly connected to the second part, wherein the first operating state defines a zero position between the first part and the second part, wherein in the second operating state the second part is resiliently connected to the first part in at least two second degrees of freedom, wherein the compensating device is biased in a direction of the zero position, wherein the compensating device has a position measuring device by which a relative position of the second part relative to the first part with respect to the zero position is measured, the method comprising: setting the second operating state of the compensating device and moving the tool, along a movement path predefined by the control unit using the at least one movement device in a direction of a target position of an item to be manipulated or of a carrier receiving the item to be manipulated, the tool contacting the item to be manipulated in such a manner that the compensating device is displaced out of the zero position; measuring a relative displacement between the first part and the second part using the position measuring device; moving the tool using the at least one movement device until the tool no longer touches the item to be manipulated, such that the compensating device is moved back into the zero position; setting the first operating state of the compensating device; and moving the tool by controlling the at least one movement device based on the measured relative displacement. ### Claim 2 (depends on 1) The method according to claim 1, wherein the at least one movement device and/or the compensating device are adjustable in six first degrees of freedom. ### Claim 3 (depends on 2) The method according to claim 2, wherein the second part is connected to the first part in six second degrees of freedom. ### Claim 4 (depends on 1) The method according to claim 1, wherein a light device defines an illumination state which is set based on the relative position of the first part and the second part sensed via the position measuring device. ### Claim 5 (depends on 4) The method according to claim 4, wherein the light device comprises a plurality of lamps controlled based on the relative position. ### Claim 6 (depends on 1) The method according to claim 1, wherein the movement device is an articulated-arm robot or a Cartesian robot. ### Claim 7 (depends on 1) The method according to claim 1, wherein the movement of the tool is controlled based on the item to be manipulated after the relative displacement has been measured. ### Claim 8 (depends on 1) The method according to claim 1, wherein: a probe is used for sensing the relative position, and the probe is exchanged for a gripper for manipulating the item to be manipulated. ### Claim 9 (depends on 1) The method according to claim 1, wherein the position measuring device is configured to sense the relative displacement and/or the force to be overcome for displacement. ### Claim 10 (depends on 1) The method according to claim 1, wherein the at least one movement device includes a plurality of the movement devices, the control of which is effected in dependence on the determination of the relative displacement with respect to one movement device or after the determination of the relative displacements of all the movement devices. ### Claim 11 (depends on 1) The method according to claim 1, wherein: the first part includes a rotor flange, and the second part includes a tool flange. ### Claim 12 (depends on 1) The method according to claim 1, wherein: the item to be manipulated is located on a carrier, and the relative displacement is determined by a single approach or by multiple approaches at different positions of the carrier.