# US 2016/0144509 A1 · Robotic devices and methods of operating robotic devices > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2016/0144509 A1 - Document ID: US20160144509A1 - Status: Published application - Kind: A1 - Application number: 14/951,866 - Filed: 2015-11-25 - Published: 2016-05-26 - Earliest claimed: 2014-11-26 - Assignees: KUKA Roboter GmbH; Siemens Aktiengesellschaft - Inventors: Abhinav Gulhar; Philip Mewes; Holger Mönnich; Sabine Thürauf - Web page: https://patentgrep.com/patent/US20160144509A1 ## CPC - B25J 9/1653: {parameters identification, estimation, stiffness, accuracy, error analysis} - G05B 2219/39305: Learn, detect kinematic contraints in a plane from displacement and force - G05B 2219/40201: Detect contact, collision with human - G05B 2219/45117: Medical, radio surgery manipulator - Y10S 901/04: Manual lead through - Y10S 901/09: Closed loop, sensor feedback controls arm movement - 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}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract A method is provided for operating a robotic device having a kinematic chain of movable components. The method includes: detecting respective values at least one characteristic of a plurality of the movable components by sensors arranged on the kinematic chain or in the vicinity of the kinematic chain; ascertaining a maximum value based on the detected values; comparing the ascertained maximum value with a predefined first safety limit by a controller of the robotic device; and adjusting the at least one characteristic or a further characteristic of the kinematic chain when the ascertained maximum value has a predefined relationship with the first safety limit, in order to increase the operating safety of the robotic device. ## Claims ### Claim 1 A method for operating a robotic device having a kinematic chain of movable components, the method comprising: detecting respective values of at least one characteristic of a plurality of the movable components by sensors of the robotic device arranged on the kinematic chain or in a vicinity of the kinematic chain; ascertaining a maximum value based on the detected values; comparing the ascertained maximum value with a predefined first safety limit by way of a controller of the robotic device; and adjusting the at least one characteristic or a further characteristic of the kinematic chain when the ascertained maximum value has a predefined relationship with the first safety limit. ### Claim 2 (depends on 1) The method as claimed in claim 1, wherein the at least one characteristic comprises one or more of: (1) a parameter of the kinematic chain as a spring-damper system, (2) a torque acting on the movable components, (3) a force acting on the movable components, (4) a speed of the movable components, or (5) an acceleration of the movable components. ### Claim 3 (depends on 2) The method as claimed in claim 2, wherein the parameter of the kinematic chain is a rigidity, a damping, or the rigidity and the damping of the movable components. ### Claim 4 (depends on 1) The method as claimed in claim 1, wherein, when ascertaining the maximum value, a geometry of the movable components in the kinematic chain is taken into account. ### Claim 5 (depends on 4) The method as claimed in claim 4, wherein the geometry of the movable components is a geometry of a function-specific end member of the kinematic chain. ### Claim 6 (depends on 1) The method as claimed in claim 1, wherein the adjusting occurs when the ascertained maximum value is greater than the first safety limit. ### Claim 7 (depends on 1) The method as claimed in claim 1, further comprising: predefining the first safety limit as a function of a position, orientation, or the position and the orientation of a movable component of the kinematic chain. ### Claim 8 (depends on 7) The method as claimed in claim 7, wherein the movable component is the function-specific end member of the kinematic chain. ### Claim 9 (depends on 7) The method as claimed in claim 7, further comprising: checking which of a plurality of predetermined areas the position of the movable component is located; and taking into account a result of the checking during predefining of the first safety limit as a function of the position. ### Claim 10 (depends on 1) The method as claimed in claim 1, further comprising: predefining the first safety limit as a function of a joint angle of one joint or a combination of joint angles of a plurality of joints between movable components in the kinematic chain. ### Claim 11 (depends on 1) The method as claimed in claim 1, further comprising: predefining the first safety limit as a function of the function-specific end member of the kinematic chain. ### Claim 12 (depends on 1) The method as claimed in claim 1, further comprising: predefining the first safety limit as a function of (1) a predefined force, a moment action on the robotic device, or the predefined force and the moment action on the robotic device, and/or (2) the predefined force, a moment impact by the robotic device, or the predefined force, and the moment impact by the robotic device. ### Claim 13 (depends on 12) The method as claimed in claim 12, wherein the predefined force, the moment action, or the predefined force and the moment action are caused by an operator control action on the robotic device, and/or wherein the predefined force, the moment impact by the robotic device, or the predefined force and the moment impact by the robotic device comprise a consequence of an operator control action. ### Claim 14 (depends on 13) The method as claimed in claim 13, wherein the operator control action on the robotic device is a guiding of the kinematic chain by a hand of an operator. ### Claim 15 (depends on 1) The method as claimed in claim 1, further comprising: predefining a second, higher safety limit, comparing the ascertained maximum value with the second safety limit; and outputting a warning signal to an operator when the ascertained maximum value is greater than the second safety limit. ### Claim 16 (depends on 1) The method as claimed in claim 1, further comprising: predefining a first value and a second value for the first safety limit; and choosing the first value or the second value as the first safety limit for comparing with the maximum value. ### Claim 17 (depends on 1) The method as claimed in claim 1, further comprising: predefining the first safety limit as a function of detected values of the at least one characteristic. ### Claim 18 (depends on 1) The method as claimed in claim 1, wherein, even when the maximum value is below the first safety limit, the characteristic is adjusted when, for a predefined time interval, the detected values of the characteristic assume predetermined values representing an idle state of the movable components. ### Claim 19 (depends on 1) The method as claimed in claim 1, wherein the adjusting comprises limiting a movement about at least one joint or a combined movement about a plurality of joints in the kinematic chain. ### Claim 20 (depends on 19) The method as claimed in claim 19, wherein the limiting comprises blocking the joint in the kinematic chain. ### Claim 21 (depends on 1) The method as claimed in claim 1, wherein, when ascertaining the maximum value, the detected values are related to respective individual limits predefined in terms of software, hardware, or the software and the hardware. ### Claim 22 (depends on 1) The method as claimed in claim 1, wherein the robotic device is a medical-robotic device used in a medical-operative or medical-diagnostic procedure. ### Claim 23 (depends on 22) The method as claimed in claim 22, wherein the robotic device is a medical-operative device. ### Claim 24 (depends on 12) The method as claimed in claim 12, wherein the robotic device is a medical-robotic device used in a medical-operative or medical-diagnostic procedure, and wherein (1) the predefined force, the moment action, or the predefined force and the moment action occur on the robotic device by way of a movement of a subarea of an organ or an anatomical structure of the patient, and/or (2) the predefined force, the moment impact, or the predefined force and the moment impact occur by way of the robotic device on the organ or the anatomical structure of the patient, and wherein the respective force, the moment effect, or the respective force and the moment effect are based on a predefined change in force, moment, or force and moment which is standardized to a predefined amount of a distance covered by a function-specific end member, a movable component of the kinematic chain, or both the function-specific end member and the movable component of the kinematic chain. ### Claim 25 A robotic device comprising: a kinematic chain of movable components; a plurality of sensors arranged on the kinematic chain or in the vicinity of the kinematic chain, wherein the plurality of sensors are configured to detect respective values of at least one characteristic of a plurality of movable components; and a controller configured to (1) ascertain a maximum value based on the detected values, (2) compare the ascertained maximum value with a predefined first safety limit, and (3) adjust the at least one characteristic or a further characteristic of the kinematic chain when the detected maximum value has a predefined relationship with the first safety limit.