Method and automated manipulator for moving a person with the manipulator
AssigneeKUKA Laboratories GmbH
InventorTorsten Hasenzahl
Life of this patent
Estimating the term…
Abstract
A method to move a person with an automated manipulator, in particular a robot, includes moving a rider receptacle for a person with the manipulator, and determining an acceleration variable of this movement before and/or during the execution of this movement and comparing the acceleration variable with a predetermined acceleration variable and/or adapting the movement to a predetermined acceleration variable in the event that the determined acceleration variable deviates from the predetermined acceleration variable, and/or a predetermined acceleration variable is used that includes different permissible acceleration durations that are respectively associated with a permissible acceleration value.
Claims12
A method to move a person with an automated manipulator, comprising the steps of:
- with a multi-axis, automated manipulator having a rider receptacle adapted to receive a person, moving the person at the rider receptacle through a movement that produces acceleration experienced by the person at the rider receptacle during the movement;
- operating said manipulator to execute said movement from a computerized control unit in communication with the automated manipulator;
- providing said computerized control unit with a predetermined acceleration variable that represents a tolerable amount of said acceleration experienced by the person at the rider receptacle during the movement, said predetermined acceleration variable comprising a plurality of different permissible acceleration durations respectively associated with a plurality of different permissible acceleration values;
- in said computerized control unit, determining, at a time selected from the group consisting of before executing said movement and during execution of said movement, a determined acceleration variable that represents actual acceleration at said rider receptacle produced by said movement;
- and
- from said computerized control unit, dynamically adapting execution of said movement, during said movement, to continually make said determined acceleration variable substantially conform to said predetermined acceleration variable during said movement.
An automated manipulator system, comprising:
- a multi-axis, automated manipulator having a rider receptacle adapted to receive a person;
- a computerized control unit in communication with the automated manipulator configured to operate said manipulator to execute a movement that moves the person at the rider receptacle and that produces acceleration experienced by the person at the rider receptacle during the movement;
- said computerized control unit having an input supplied with a predetermined acceleration variable that represents a tolerable amount of said acceleration experienced by the person at the rider receptacle during the movement;
- said computerized control unit being configured to determine, at a time selected from the group consisting of before executing said movement and during execution of said movement, a determined acceleration variable that represents actual acceleration at said rider receptacle produced by said movement, said predetermined acceleration variable comprising a plurality of different permissible acceleration durations respectively associated with a plurality of different permissible acceleration values;
- and
- said computerized control unit being configured to dynamically adapt execution of said movement, during said movement, to continually make said determined acceleration variable substantially conform to said predetermined acceleration variable.
A non-transitory, computer-readable storage medium encoded with programming instructions, said storage medium being loadable into a computerized control unit that operates a multi-axis automated manipulator having a rider receptacle adapted to accept a person, said programming instructions, when said storage medium in loaded into said computerized control unit, causing said computerized control unit to:
- operate said manipulator to move the person at the rider receptacle through a movement that produces acceleration experienced by the person at the rider receptacle during the movement;
- store a predetermined acceleration variable that represents a tolerable amount of said acceleration experienced by the person at the rider receptacle during the movement, said predetermined acceleration variable comprising a plurality of different permissible acceleration durations respectively associated with a plurality of different permissible acceleration values;
- determine, at a time selected from the group consisting of before executing said movement and during execution of said movement, a determined acceleration variable that represents actual acceleration at said rider receptacle produced by said movement;
- and
- dynamically adapt execution of said movement, during said movement, to continually make said determined acceleration variable substantially conform to said predetermined acceleration variable.
Dependencies are inferred from the claim text.