Motion monitoring of a robot manipulator
AssigneeFranka Emika GmbH
InventorsAndreas Spenninger, Saskia Golz, Dmitrij Forssilow, Sven Parusel
Life of this patent
Estimating the term…
Abstract
A device and method for monitoring a motion of a robot manipulator, including operations of: defining a forbidden position for the robot manipulator, defining a curve running along the robot manipulator with a one-dimensional running coordinate s, wherein at least a subset of all locations of the curve is moved together with a current pose of the robot manipulator, and determining a distance d between a location of a current curve and/or a predicted curve and the forbidden position.
Claims18
A method of monitoring a motion of a robot manipulator, the method comprising:
- defining a forbidden position for the robot manipulator;
- defining a curve running along the robot manipulator with a one-dimensional running coordinate s, wherein at least a subset of all locations of the curve is moved together with a current pose of the robot manipulator;
- and
- determining a distance d between a location of a current curve and/or a predicted curve and the forbidden position.
A device to monitor a motion of a robot manipulator, the device comprising a computing unit configured to:
- define a forbidden position for the robot manipulator;
- define a curve running along the robot manipulator with a one-dimensional running coordinate s, wherein at least a subset of all locations of the curve is moved together with a current pose of the robot manipulator;
- and
- determine a distance d between a location of a current curve and/or a predicted curve and the forbidden position.
Dependencies are inferred from the claim text.