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US 2019/0054619 A1Published application
Operating a hand-guided robot
AssigneeSiemens Healthcare GmbH
InventorHolger Mönnich
Life of this patent
Estimating the term…
Abstract
A method for operating a hand-guided robot having a jointed arm and an end effector is provided. As part of the method, a moment is measured at each joint while the robot is being hand-guided or subjected to a mechanical tension due to contact with an external object. Based on the measured moment, an external moment affecting the robot is determined. Then, a correction factor for a position of the end effector is computed based on the external moment and an absolute accurate model of the robot. Then, a current position of the end effector is computed based on a correction model in dependence on the correction factor. A corresponding storage medium, data processing device, robotic system, and tracking system are also provided.
Claims18
A method for operating a hand-guided robot having a jointed arm with at least one joint, and an end effector connected to one end of the jointed arm, the method comprising:
- measuring a moment at each joint of the at least one joint of the jointed arm while the hand-guided robot is being hand-guided or subjected to a mechanical tension due to contact with an external object;
- determining at least one external moment affecting the robot based on the at least one measured moment;
- computing a positional correction factor for a position of the end effector based on the at least one external moment and an absolute accurate model of the robot;
- and
- computing a current position of the end effector based on a correction model in dependence on the correction factor,
- wherein the correction factor compensates a dynamic influence on the position of the end effector.
3 more elements
In a non-transitory computer-readable storage medium that stores instructions executable by one or more processors to operate a hand-guided robot having a jointed arm with at least one joint, and an end effector connected to one end of the jointed arm, the instructions comprising:
- measuring a moment at each joint of the at least one joint of the jointed arm while the hand-guided robot is being hand-guided or subjected to a mechanical tension due to contact with an external object;
- determining at least one external moment affecting the robot based on the at least one measured moment;
- computing a positional correction factor for a position of the end effector based on the at least one external moment and an absolute accurate model of the robot;
- and
- computing a current position of the end effector based on a correction model in dependence on the correction factor,
- wherein the correction factor compensates a dynamic influence on the position of the end effector.
3 more elements
A data processing device comprising:
- a processor;
- and
- a non-transitory computer-readable storage medium that stores instructions executable by the processor to operate a hand-guided robot having a jointed arm with at least one joint, and an end effector connected to one end of the jointed arm, the instructions comprising:
- measuring a moment at each joint of the at least one joint of the jointed arm while the hand-guided robot is being hand-guided or subjected to a mechanical tension due to contact with an external object;
- determining at least one external moment affecting the robot based on the at least one measured moment;
- computing a positional correction factor for a position of the end effector based on the at least one external moment and an absolute accurate model of the robot;
- and
- computing a current position of the end effector based on a correction model in dependence on the correction factor,
- wherein the correction factor compensates a dynamic influence on the position of the end effector.
6 more elements
A robotic system comprising:
- a hand-guided robot having a jointed arm with at least one joint and an end effector connected to one end of the arm;
- a moment sensor in or at each joint of the at least one joint of the arm;
- and
- a data processing device connected to each moment sensor via a respective data link, the data processing device comprising:
- a processor;
- and
- a non-transitory computer-readable storage medium that stores instructions executable by the processor to operate the hand-guided, the instructions comprising:
- measuring a moment at each joint of the at least one joint of the jointed arm while the hand-guided robot is being hand-guided or subjected to a mechanical tension due to contact with an external object;
- determining at least one external moment affecting the robot based on the at least one measured moment;
- computing a positional correction factor for a position of the end effector based on the at least one external moment and an absolute accurate model of the robot;
- and
- computing a current position of the end effector based on a correction model in dependence on the correction factor,
- wherein the correction factor compensates a dynamic influence on the position of the end effector.
10 more elements
A robotic system comprising:
- a robotic system comprising:
- a hand-guided robot having a jointed arm with at least one joint and an end effector connected to one end of the arm;
- a moment sensor in or at each joint of the at least one joint of the arm;
- and
- a data processing device connected to each moment sensor via a respective data link, the data processing device comprising:
- a processor;
- and
- a non-transitory computer-readable storage medium that stores instructions executable by the processor to operate the hand-guided, the instructions comprising:
- measuring a moment at each joint of the at least one joint of the jointed arm while the hand-guided robot is being hand-guided or subjected to a mechanical tension due to contact with an external object;
- determining at least one external moment affecting the robot based on the at least one measured moment;
- computing a positional correction factor for a position of the end effector based on the at least one external moment and an absolute accurate model of the robot;
- and
- computing a current position of the end effector based on a correction model in dependence on the correction factor,
- wherein the correction factor compensates a dynamic influence on the position of the end effector, and
- wherein the robot is an industrial robot having at least six degrees of freedom.
12 more elements
A tracking system for tracking a position, a movement, or a position and a movement of an external object, the tracking system comprising:
- a robotic system comprising:
- a hand-guided robot having a jointed arm with at least one joint and an end effector connected to one end of the arm;
- a moment sensor in or at each joint of the at least one joint of the arm;
- and
- a data processing device connected to each moment sensor via a respective data link, the data processing device comprising:
- a processor;
- and
- a non-transitory computer-readable storage medium that stores instructions executable by the processor to operate the hand-guided, the instructions comprising:
- measuring a moment at each joint of the at least one joint of the jointed arm while the hand-guided robot is being hand-guided or subjected to a mechanical tension due to contact with an external object;
- determining at least one external moment affecting the robot based on the at least one measured moment;
- computing a positional correction factor for a position of the end effector based on the at least one external moment and an absolute accurate model of the robot;
- and
- computing a current position of the end effector based on a correction model in dependence on the correction factor,
- wherein the correction factor compensates a dynamic influence on the position of the end effector,
- wherein the robot is an industrial robot having at least six degrees of freedom,
- wherein the end effector or a tool attached to the end effector is brought into contact with the external object or another external object, and
- wherein the position of the external object or the other external object, respectively, is determined based on the computed current position of the end effector.
14 more elements
Dependencies are inferred from the claim text.