Orientation Angle Display During the Manual Guidance of a Robot Manipulator
AssigneeFranka Emika GmbH
InventorsTim Rokahr, Andreas Spenninger
Life of this patent
Estimating the term…
Abstract
A robot system with a robot manipulator and with a visual output unit, wherein the robot manipulator includes a robot link and the robot link includes an inertial measuring unit, wherein the inertial measuring unit is designed to determine a direction of a gravity vector when the robot link is immobile, and to determine, over a plurality of points in time, a current orientation of the robot link in relation to the gravity vector using attitude gyros, and to transmit, to the visual output unit, the current orientation of the robot link in relation to the gravity vector, and wherein the visual output unit is designed to display the current orientation of the robot link in relation to the gravity vector.
Claims12
A robot system with a robot manipulator and with a visual output unit, wherein the robot manipulator comprises a robot link and the robot link comprises an inertial measuring unit, wherein the inertial measuring unit is designed to determine a direction of a gravity vector when the robot link is immobile, and to determine, over a plurality of points in time, a current orientation of the robot link in relation to the gravity vector using attitude gyros, and to transmit, to the visual output unit, the current orientation of the robot link in relation to the gravity vector, and wherein the visual output unit is designed to display the current orientation of the robot link in relation to the gravity vector.
A method for outputting a current orientation of a robot link of a robot manipulator in relation to the gravity vector on a visual output unit, the method comprising:
- determining a direction of a gravity vector when the robot link is immobile using an inertial measuring unit arranged on the robot link;
- determining, over a plurality of the points in time, a current orientation of the robot link in relation to the gravity vector using attitude gyros of the inertial measuring unit;
- transmitting, from the inertial measuring unit to the visual output unit, the current orientation of the robot link in relation to the gravity vector;
- and
- displaying the current orientation of the robot link in relation to the gravity vector on the visual output unit.
Dependencies are inferred from the claim text.