Method And Control Means For Controlling A Robot
AssigneeKUKA Laboratories GmbH
InventorsJonas Rümping, Christian Sonner
Life of this patent
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Abstract
According to a method according to the invention for controlling a robot (1), in particular a human-collaborating robot, a robot- or task-specific redundancy of the robot is resolved, wherein, in order to resolve the redundancy, a position-dependent inertia variable (mn(Λv(q))) of the robot is minimized.
Claims14
1-11. (canceled)
A method for controlling a robot, in particular a human-collaborating robot, wherein a robot-specific or task-specific redundancy of the robot is resolved, comprising minimizing a position-dependent inertia variable of the robot for resolution of the redundancy.
A controller for controlling a human-collaborating robot, the controller comprising:
- a processing unit;
- and
- a memory unit operatively coupled to the processing unit and containing a program that, when executed by the processing unit, causes the controller to resolve a robot-specific or task-specific redundancy of the robot by minimizing a position-dependent inertia variable of the robot.
A computer program product comprising:
- a non-transitory computer readable storage medium;
- and
- a program stored on the non-transitory computer readable storage medium that, when executed by a processing unit, causes the processing unit to resolve a robot-specific or task-specific redundancy of the robot by minimizing a position-dependent inertia variable of the robot.
Dependencies are inferred from the claim text.