US 2023/0107982 A1 · FORCE LIMITATION IN THE EVENT OF COLLISION OF A ROBOT MANIPULATOR

Abstract

A method of operating a robot manipulator, the method including: specifying a maximum permissible force to be exerted on an object by the robot manipulator, specifying a target position of a reference point of the robot manipulator, determining a current position of the reference point, performing an impedance regulation, which determines a current reference force of an artificial spring component based on a spring stiffness and based on a difference between the current position and the target position of the reference point of the robot manipulator, and controlling the robot manipulator to execute an emergency control program if the current reference force exceeds the maximum permissible force.

Claims21

Dependent claims

A method of operating a robot manipulator the method comprising:

specifying a maximum permissible force to be exerted by the robot manipulator on an object in a vicinity of the robot manipulator;
specifying a target position of a reference point of the robot manipulator;
determining a current position of the reference point of the robot manipulator;
controlling the robot manipulator by performing an impedance regulation, wherein the impedance regulation has an artificial spring component, and a current reference force of the artificial spring component is determined based on a specified spring stiffness and based on a difference between the current position and the target position of the reference point of the robot manipulator;
and
controlling the robot manipulator to execute an emergency control program if the current reference force exceeds the maximum permissible force.

3 more elements

Dependencies are inferred from the claim text.

Force limitation in the event of collision of a robot manipulator

Life of this patent

Force limitation in the event of collision of a robot manipulator

Life of this patent

Abstract

Claims21