Method for limiting the force action of a robot part
AssigneeKUKA Roboter GmbH
InventorPeter Heiligensetzer
Life of this patent
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Abstract
In order to reduce the risk of damage on external objects, material articles or persons during the operation of a robot, particularly a miniature robot, the invention provides a method for limiting the force action of a robot part, such as a robot arm, on such an external object during a collision in such a way that as a result of a maximum permitted force, maximum force Fmax, acting on the object in the case of a collision, a corresponding, maximum permitted kinetic energy, maximum energy Ekin,max of the robot part is determined, continuously and at adequately short time intervals the actual kinetic energy, actual energy Ekin, of the robot part is determined and on exceeding the maximum permitted energy Ekin,max, the actual operating speed V of the robot is reduced.
Claims14
Method for limiting the force action of a robot part, such as a robot arm, on an external object during a collision, wherein:
- as a result of a maximum permitted force, maximum force Fmax, acting on the object in the case of a collision, a corresponding maximum permitted kinetic energy, maximum energy Ekin,max, of the robot part is determined,
- continuously and at adequately short time intervals, the actual kinetic energy, actual energy Ekin, of the robot part is determined and
- on exceeding the maximum permitting energy Ekin,max, the actual operating speed v of the robot is reduced.
Dependencies are inferred from the claim text.