Switching A Control Of A Robot Into A Manual Operating Mode
AssigneeKUKA Roboter GmbH
InventorsMarc-Walter Ueberle, Matthias Rohmer, Tobias Reichl, Gunter Schreiber, Martin Mueller-Sommer, Uwe Bonin
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Abstract
A method for switching a control of a robot into a manual operating mode, wherein the robot is movable by a user manually applying at least one of a force or a torque upon the robot, includes detecting at least one of joint forces or joint torques of the robot, and triggering an error reaction in response to the switching and based on at least one of the detected joint forces and/or joint torques, target joint forces and/or target joint torques, or a pose of the robot.
Claims11
A method for switching a control of a robot into a manual operating mode wherein the robot is movable by a user manually applying at least one of a force or a torque upon the robot, the method comprising:
- detecting with a robot controller at least one of joint forces or joint torques;
- triggering an error reaction in response to the switching and based on at least one of:
- the detected joint forces and/or joint torques,
- target joint forces and/or target joint torques, or
- a pose of the robot.
A controller for controlling a robot, the controller including programming code stored on a non-transient, computer-readable medium that, when executed by the controller, causes the controller to:
- detect at least one of joint forces or joint torques;
- and
- trigger an error reaction in response to switching into a manual operating mode that facilitates moving the robot by a user manually applying at least one of a force or a torque on the robot, and based on at least one of:
- the detected joint forces and/or joint torques,
- target joint forces and/or target joint torques, or
- a pose of the robot.
A computer program product including program code stored on a non-transient, computer-readable medium that, when executed by a computer, causes the computer to:
- detect at least one of joint forces or joint torques;
- and
- trigger an error reaction in response to switching into a manual operating mode that facilitates moving the robot by a user manually applying at least one of a force or a torque on the robot, and based on at least one of:
- the detected joint forces and/or joint torques,
- target joint forces and/or target joint torques, or
- a pose of the robot.
Dependencies are inferred from the claim text.