Method and system for performing a predetermined task using a robot
AssigneeKUKA Deutschland GmbH
InventorsEwald Lutscher, Mario Daniele Fiore
Life of this patent
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Abstract
A method for carrying out a predetermined task using a robot, which is redundant with regard to the task. When the task is carried out, an admittance motion that is dependent on a force exerted externally on the robot and on a predetermined virtual mass, stiffness and/or damping is carried out in the zero space.
Claims12
A method for carrying out a predetermined task using a robot, wherein the robot is redundant with regard to the task, the method comprising:
- executing the task by actuating at least one joint of the robot, while performing an admittance motion in the null space of the robot in response to the command;
- wherein the admittance motion is based on a force exerted externally on the robot and at least one of a predetermined virtual mass, a predetermined virtual stiffness, or a predetermined virtual damping associated with the robot;
- wherein a determined target admittance motion is projected into the null space;
- and
- the target admittance motion is determined on the basis of at least one of:
- the force exerted externally on the robot, or
- at least one of a predetermined virtual mass, stiffness, or damping.
A system for operating a robot to carry out a predetermined task, wherein the robot is redundant with regard to the task, the system comprising:
- a robot controller configured to execute the task while performing an admittance motion in the null space of the robot;
- wherein the admittance motion is based on a force exerted externally on the robot and at least one of a predetermined virtual mass, a predetermined virtual stiffness, or a predetermined virtual damping associated with the robot;
- wherein a determined target admittance motion is projected into the null space;
- and
- wherein the target admittance motion is determined on the basis of at least one of:
- the force exerted externally on the robot, or
- at least one of a predetermined virtual mass, stiffness, or damping.
A computer program product for carrying out a predetermined task using a robot, wherein the robot is redundant with regard to the task, the computer program product comprising program code stored on a non-transient computer-readable medium, the program code, when executed on a computer, causing the computer to:
- execute the predetermined task by actuating at least one joint of the robot;
- and
- perform an admittance motion in the null space of the robot while executing the predetermined task;
- wherein the admittance motion is based on a force exerted externally on the robot and at least one of a predetermined virtual mass, a predetermined virtual stiffness, or a predetermined virtual damping associated with the robot;
- wherein a determined target admittance motion is projected into the null space;
- and
- wherein the target admittance motion is determined on the basis of at least one of:
- the force exerted externally on the robot, or
- at least one of a predetermined virtual mass, stiffness, or damping.
Dependencies are inferred from the claim text.