US 2023/0025318 A1Published application

Calibration of an impedance control of a robot manipulator

AssigneeFranka Emika GmbH

InventorsAndreas Spenninger, Marco Morganti

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Abstract

A method of calibrating an impedance control of a robot manipulator, the method including: deflecting a reference point of the robot manipulator from a zero position to a deflected position, wherein the robot manipulator applies a counterforce dependent on a spring constant of the impedance control and on a first determined deflection, wherein the first determined deflection is determined based on joint angles detected by joint angle sensors of the robot manipulator; detecting a second determined deflection by an external position measuring unit; and adapting the spring constant of the impedance control in such a way that the counterforce applied by the robot manipulator corresponds to a predetermined counterforce of the robot manipulator based on the second determined deflection.

Claims18

Dependent claims

A method of calibrating an impedance control of a robot manipulator, wherein the robot manipulator comprises a plurality of links connected to one another by joints, the method comprising:

deflecting a reference point of the robot manipulator from a zero position to a deflected position, wherein the robot manipulator applies a counterforce dependent on a spring constant of the impedance control and on a first determined deflection of the reference point of the robot manipulator, wherein the first determined deflection is determined based on joint angles detected by means of joint angle sensors of the robot manipulator;
detecting a second determined deflection of the reference point of the robot manipulator in its deflected position by an external position measuring unit;
and
adapting the spring constant of the impedance control in such a way that the counterforce applied by the robot manipulator corresponds to a predetermined counterforce of the robot manipulator based on the second determined deflection.

1 more element

A robot system comprising:

a robot manipulator;
and
a control unit configured to carry out an impedance control of the robot manipulator, wherein the impedance control is calibrated by the control unit configured;
deflect a reference point of the robot manipulator from a zero position to a deflected position, wherein the robot manipulator applies a counterforce dependent on a spring constant of the impedance control and on a first determined deflection of the reference point of the robot manipulator, wherein the first determined deflection is determined based on joint angles detected by joint angle sensors of the robot manipulator;
detect a second determined deflection of the reference point of the robot manipulator in its deflected position by an external position measuring unit, and
adapt the spring constant of the impedance control in such a way that the counterforce applied by the robot manipulator corresponds to a predetermined counterforce of the robot manipulator based on the second determined deflection.

3 more elements

Dependencies are inferred from the claim text.