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AssigneeDeutsches Zentrum für Luft- und Raumfahrt e.V.
InventorsMarco DE STEFANO, Christian OTT, Ria VIJAYAN, Hrishik MISHRA, Ferdinand ELHARDT
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A robot device that has a robot element pivotable about a first robot joint is controlled by a method including the steps of: moving the robot element by an actuator; controlling the actuator by an actuator control device that sends control signals to the actuator; and supporting the robot device by a support device. gravity-compensating control signals are sent to the support device by a support control device. The support device is controlled such that a force and/or a moment is applied to the robot element via a force-applying element connected to the robot element. The force and/or moment compensates for the gravitational load acting on the robot element. To compensate for the gravitational force acting on the robot element, gravity-compensating second control signals are sent from the support control device to the support device, and gravity-compensating control signals are also sent from the actuator control device to the actuator.
A method for controlling a robot device, the robot device comprising at least one robot element pivotable about at least one first robot joint, the method comprising the steps of:
A robot system, comprising
Dependencies are inferred from the claim text.