Robot System for Lead-Through Programming
AssigneeABB Schweiz AG
InventorsArne Wahrburg, Richard Roberts, Tomas Groth
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Abstract
A robot system comprises a manipulator and a controller therefore, wherein the controller supports impedance-based control of a lead-through operation mode, characterized in that the controller is switchable between impedance-based and admittance-based control of the lead-through mode.
Claims13
A robot system comprising a manipulator and a controller associated with the manipulator, wherein the controller supports impedance based control of a lead-through operation mode, wherein the controller is switchable between impedance based and admittance-based control of the lead-through mode.
A method for controlling a robot system in lead-through mode, the robot system having a manipulator and a controller, in which method a user guides a movement of a mobile portion of the manipulator to a target position, comprising:
- a) the controller supporting an initial phase of the movement under impedance control, and
- b) the controller supporting a final phase of the movement under admittance control.
Dependencies are inferred from the claim text.