US 9,579,793 B2 · Robot and method for controlling a robot

Abstract

The invention relates to a robot and a method for controlling a robot. The distance between an object and the robot and/or the derivative thereof or a first motion of the object is detected by means of a non-contact distance sensor arranged in or on a robot arm of the robot and/or on or in an end effector fastened on the robot arm. The robot arm is moved based on the first motion detected by means of the distance sensor, a target force or a target torque to be applied by the robot is determined based on the distance detected between the object and the robot, and/or a function of the robot or a parameterization of a function of the robot is triggered based on the first motion detected and/or a target distance between the object and the robot and/or the derivative thereof detected by means of the distance sensor.

Claims11

Dependent claims

A method of controlling a robot having at least one robot arm, the method comprising:

detecting with a non-contact distance sensor a first movement of an object;
wherein the non-contact distance sensor is attached to at least one of the robot arm or an end effector attached to the robot arm;
moving the robot arm on the basis of the detected first movement in a manner that prevents collision between the robot arm and the object;
and
maintaining the position and orientation of an attaching device of the robot arm or of a tool center point of the end effector while moving the robot arm in the manner that prevents collision.

2 more elements

Dependencies are inferred from the claim text.

Robot and method for controlling a robot

Life of this patent

Robot and method for controlling a robot

Life of this patent

Abstract

Claims11