Robot System And Method For Operating A Teleoperative Process
AssigneeKUKA Roboter GmbH
InventorYevgen Kogan
Life of this patent
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Abstract
A system and a method for carrying out a teleoperative process, wherein an image recording device and a tool are used. The tool may be guided by a first manipulator, and a currently captured region of the image recording device is determined. Monitoring the position of the tool relative to the currently captured region of the image recording device makes it possible to prevent the tool from unintentionally leaving the captured region. The axes of the manipulator are provided with sensors for detecting the forces and/or torques acting on the axes.
Claims18
1-12. (canceled)
A robot system for a teleoperative process, comprising:
- an image recording device;
- a tool guided by a first manipulator, wherein the axes of the manipulator are provided with sensors for detecting at least one of forces or torques acting on the axes;
- and
- a control unit configured to:
- (a) determine a currently captured region of the image recording device,
- (b) determine a pose of the tool relative to the image recording device, and
- (c) perform an action when the tool violates limits of the currently captured region of the image recording device.
A method for operating a teleoperative process, comprising:
- determining the pose of a tool guided by a first manipulator, wherein the axes of the manipulator are provided with sensors for detecting at least one of forces or torques acting on the axes;
- determining a currently captured region of an image recording device that provides a user with a visualization of the pose of the tool;
- determining the pose of the tool relative to the image recording device;
- and
- when the tool violates limits of the currently captured region of the image recording device, then at least one of emitting a warning, shutting down, hard switching the first manipulator, or deactivating the tool.
Dependencies are inferred from the claim text.