The invention relates to a robot manipulator, wherein a braking device arranged on at least one of the joints of the manipulator is activated by a control unit in order to generate such a residual torque that a maximum torque is not exceeded at the joint, and the residual torque is determined on the basis of sensor determination and/or estimation of the torque currently present at the joint, wherein the estimation is based on a measure, multiplied by a first predefined factor, of a gravitational influence acting on the at least one of the joints, or is based on a dynamic model of the robot manipulator, the dynamic model having the gravitational influence, wherein the control unit determines the gravitational influence on the basis of a joint angle vector with joint angles between the at least one of the joints and a distal end of the robot manipulator.
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
2.
DEVICE AND METHOD FOR DETECTING THE MEDICAL STATUS OF A PERSON
A device to detect medical status of a person, including a robot manipulator to receive and handle effectors, each effector enabling a selected activity; a first unit to determine a current state ZRM(t) of the robot manipulator and a current state of an effector; a second unit to determine a current position LKT,AKTk(t) of a person's body part related to the selected activity in a working region of the robot manipulator; a third unit to determine a wrench KW(t) acting on the robot manipulator; a fourth unit to specify target data and permissible deviations for the selected activity; and a control unit to control the robot manipulator upon specification of the selected activity as a function of: ZRM(t), LKT,AKTk(t), KW(t), target data, and permissible deviations, such that when a permissible deviation is exceeded, the robot manipulator and the effector are placed into a safe state based on the selected activity.
A method of operating a robot manipulator, the method including: specifying a maximum permissible force to be exerted on an object by the robot manipulator, specifying a target position of a reference point of the robot manipulator, determining a current position of the reference point, performing an impedance regulation, which determines a current reference force of an artificial spring component based on a spring stiffness and based on a difference between the current position and the target position of the reference point of the robot manipulator, and controlling the robot manipulator to execute an emergency control program if the current reference force exceeds the maximum permissible force.
The invention relates to a method for calibrating a virtual force sensor of a robot manipulator, wherein the following steps are carried out in a plurality of poses: applying an external wrench to the robot manipulator, ascertaining an estimate of the external wrench, ascertaining a first calibration matrix based on the ascertained estimate and a specified external wrench, ascertaining a second calibration matrix by inverting the first calibration matrix, and storing the respective second calibration matrix in a data set of all of the second calibration matrices, thereby assigning each second calibration matrix to the respective pose for which each second calibration matrix was ascertained.
A method of determining an installation site of a robot manipulator at a workstation, the method including: recording a respective image of the robot manipulator and of the workstation of the robot manipulator, and of a workpiece to be machined at the workstation via a camera unit, wherein the respective image contains spatial information; transmitting the respective image to a computing unit; and determining the installation site of the robot manipulator by applying a non-linear optimization of a predefined cost function and/or of a neural network via the computing unit based on a predefined task for machining the workpiece and based on the spatial information determined by the computing unit from the respective image.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
G06F 30/13 - Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
G06F 30/27 - Design optimisation, verification or simulation using machine learning, e.g. artificial intelligence, neural networks, support vector machines [SVM] or training a model
G06T 7/70 - Determining position or orientation of objects or cameras
6.
Control of a robot manipulator upon contact with a person
A method of controlling a robot manipulator, the method including: providing a database containing body zones of a person, wherein each of the body zones is assigned a respective maximum permissible value of contact pressure value, determining a current or a future contact event of the robot manipulator involving the person, and determining a body zone of the person that is contacted, determining a reference position fixed relative to a body of the person, wherein the reference position indicates beginning of a spatial progression of depression of tissue of the person during the contact event with the person, and controlling the robot manipulator in an impedance-regulated manner, such that the reference position serves as a zero position of an artificial spring component of impedance regulation of the robot manipulator and a maximum permissible contact pressure is not exceeded as a limit value.
A control unit to ascertain one or more parameters of a control program and/or of a control system for a robot manipulator, wherein the control unit includes: an interactive operating unit to display a first adjustment element and a specified region for the first adjustment element, wherein the first adjustment element is moveable within the specified region via an input of a user, the interactive operating unit further to detect a user-specified position of the first adjustment element and transmit the user-specified position; and a computing unit to receive the user-specified position and ascertain weightings for a specified cost function as a function of the position, wherein a sum of the weightings is constant for all positions of the adjustment element, the computing unit further to ascertain the parameters of the control program and/or of the control system for the robot manipulator based on the cost function.
A method of calibrating an impedance control of a robot manipulator, the method including: deflecting a reference point of the robot manipulator from a zero position to a deflected position, wherein the robot manipulator applies a counterforce dependent on a spring constant of the impedance control and on a first determined deflection, wherein the first determined deflection is determined based on joint angles detected by joint angle sensors of the robot manipulator; detecting a second determined deflection by an external position measuring unit; and adapting the spring constant of the impedance control in such a way that the counterforce applied by the robot manipulator corresponds to a predetermined counterforce of the robot manipulator based on the second determined deflection.
A method of calibrating a virtual force sensor of a robot manipulator, wherein in a plurality of poses, the method comprises: applying an external wrench to the robot manipulator ascertaining an estimate of the external wrench, ascertaining a respective cost function based on a difference between the determined estimate of the external wrench and a specified external wrench, ascertaining a respective calibration function by minimizing the respective cost function, and storing the respective calibration function in a data set of all calibration functions with assignment of the respective calibration function to a respective pose for which the respective calibration function was ascertained.
A method of generating a control program, wherein the method includes: executing an application by the first robot manipulator, at the same time, determining trajectory data and/or wrench data, determining robot commands from a stored time series, the robot commands being principal elements of the control program for the robot manipulator without relation to design conditions of a first robot manipulator, and generating the control program for a second robot manipulator based on the stored robot commands and based on the design conditions of the second robot manipulator.
A robot system including: a robot manipulator that includes links interconnected by joints with degrees of freedom that are at least partially redundant to one another; an operating unit configured to detect an input from a user with respect to at least one selected direction of a force; and a control unit configured to receive the input from the operating unit, determine components of a transpose of a Jacobian matrix associated with a respective selected direction for a predetermined position and/or orientation of a distal end of the robot manipulator in a null space such that a first metric based on the components satisfies one of following criteria: unequal to zero, greater than a specified limit, or a maximum, and control the robot manipulator to move a subset of the links in the null space so as to assume a pose according to the components as determined.
A system for performing an input on a robotic manipulator, wherein the system includes: a robotic manipulator having a plurality of links connected to one another by articulations and having actuators; a sensor unit configured to record an input variable, applied by a user by manually guiding the robotic manipulator, on the robotic manipulator, wherein the input variable is a kinematic variable or a force and/or a moment, and wherein the sensor unit is configured to transmit the input variable; and a computing unit connected to the robotic manipulator and to the sensor unit, the computing unit configured to transform the input variable received from the sensor unit via a predefined input variable mapping, wherein the input variable mapping defines a mathematical mapping of the input variable onto a coordinate of a graphical user interface or onto a setting of a virtual control element.
A method of specifying an input value on a robotic manipulator, wherein the method includes: selecting a particular predefined input device to be emulated, wherein the input device to be emulated is assigned at least one degree of freedom of the robotic manipulator and local limits in the at least one degree of freedom, and a transfer function of a coordinate of the robotic manipulator in the at least one degree of freedom is assigned onto the input value; actuating the robotic manipulator such that at least one part of the robotic manipulator is manually movable in the at least one degree of freedom and within the local limits; recording a respective coordinate in the at least one degree of freedom during or after completion of an input on the robotic manipulator via a sensor unit; and applying the transfer function to assign the respective coordinate to the input value.
G06F 3/02 - Input arrangements using manually operated switches, e.g. using keyboards or dials
G06F 3/0338 - Pointing devices displaced or positioned by the userAccessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
G06F 3/0362 - Pointing devices displaced or positioned by the userAccessories therefor with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
14.
Tactile feedback of an end effector of a robot manipulator over different orientation ranges
A method includes: controlling actuators of a robot manipulator to compensate for influence of gravity; during a manual guidance of the robot manipulator detecting an orientation of an end effector; and controlling at least part of the actuators in such a way that during manual guidance of the end effector, the end effector: within a first range of a first rotation, opposes no or a speed-dependent resistance and outside the first range opposes a rotation angle-dependent resistance to the manual guidance, wherein the first rotation is a rotation angle of the end effector about its longitudinal axis; and within a second range of the second rotation, opposes no or a speed-dependent resistance to the manual guidance, and outside the second range, opposes a deflection-dependent resistance to the manual guidance, wherein the second rotation is a rotational deflection of the end effector from its original longitudinal axis or a vertical axis.
The invention relates to a robot manipulator (1) having a control unit (3), wherein the control unit (3) is designed to perform force regulation, so that a reference point (5) of the robot manipulator (1), in a static situation, exerts a desired force onto an object in the surrounding area with the aid of the force regulation, wherein the control unit (3) is designed to mitigate the desired force as the target force of the force regulation or a fault variable based on the difference between the target force and an actual force at the reference point with a damping term, and to actuate motors in the joints of the robot manipulator (1) with an actuating variable on the basis of the fault variable, wherein the damping term is dependent on time and is a function of a current speed of the reference point (5) or at least one joint of the robot manipulator (1).
The invention relates to a robot manipulator (1) having a computing unit (3) and having a multiplicity of limbs connected to one another by means of joints, wherein the joints each have a torque sensor (5) and a position sensor (7), wherein the computing unit (3) is designed to calculate an inverse Jacobian matrix from the joint angles and to calculate a vectorial external wrench from the multiplication of this matrix by a vector of joint torques, wherein the robot manipulator (1) has an additional force and/or torque sensor (9), and the computing unit (3) is designed to determine a modified vectorial external wrench by replacing a respective corresponding entry of the vectorial external wrench with the force and/or torque captured by the additional force and/or torque sensor (9) or combining it with the force and/or torque captured by the additional force and/or torque sensor (9) in data fusion.
A system for controlling at least one machine which is assigned an individual machine language including defined command variables, the machine undergoing a change of state in the course of the control, having a control module which is designed to transform command variables of an interaction language into corresponding command variables of an individual machine language depending of the type of machine and/or the machine language assigned thereto.
G05B 19/4155 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
18.
Method for operating a robot manipulator with increased mass of a load
A method of operating a robot manipulator including: ascertaining a wrench or joint torque vector based on a weight force and/or based on an inertial force of a mass of a load on an end effector of the robot manipulator; ascertaining a maximum permissible workspace and/or a maximum permissible kinematic variable, in each case based on the wrench or joint torque vector such that the wrench or joint torque vector does not exceed a predetermined metric within the maximum permissible workspace; and activating the robot manipulator to execute a predetermined task in consideration of the maximum permissible kinematic variable, such that the end effector or the load on the end effector remains within the maximum permissible workspace if, at beginning of execution of the task, the end effector or the load on the end effector is located within the maximum permissible workspace.
A braking device for a drive device of a joint between two links of a robot arm including a brake activating device and a locking element, wherein the brake activating device is designed to bring the locking element into engagement with a rotor of the drive device as required in order to halt rotation of the rotor, the locking element being designed as a bolt and the braking element being designed as a braking star with webs which have a defined impact surface for the bolt.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
F16D 125/38 - Helical camsBall-rotating ramps with plural cam or ball-ramp mechanisms arranged concentrically with the brake rotor axis
The invention relates to a device (1) for testing a mechanically operable sensing element (3) with an operator panel (5), having: - a first interface (7), which provides a respective desired force-moment-system characteristic for imaginary surface elements (13) of the user interface (5), - a second interface (9), which provides the sensing element (3), - a force-controlled and/or torque-controlled and/or impedance-controlled robot manipulator (11), which applies a respective predetermined force-moment system to a respective surface element (13) and senses respective restoring-force-moment systems and respective deflections, - a determining unit (15), which determines from the sensed restoring-force-moment systems and from the deflections at each of the surface elements (13) a respective actual force-moment-system characteristic, - a comparison unit (17), which compares the respective desired force-moment-system characteristic with the respective actual force-moment-system characteristic for each surface element (13), and - an output unit (19), which generates a warning signal if at least one comparison result does not satisfy a condition.
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
G01R 31/00 - Arrangements for testing electric propertiesArrangements for locating electric faultsArrangements for electrical testing characterised by what is being tested not provided for elsewhere
G06F 3/048 - Interaction techniques based on graphical user interfaces [GUI]
21.
Specifying safe velocities for a robot manipulator
A method for specifying a velocity of a robot manipulator, including: providing a database that has a data record for each of selected surface points on the manipulator, wherein each data record indicates, for each of possible stiffnesses and/or masses of an object in an environment of the manipulator, a safe normal velocity of each surface point, wherein the normal velocity is a component of the velocity vector of each surface point perpendicular to a surface of each surface point, detecting an actual stiffness and/or an actual mass of the object in the environment, assigning the actual stiffness and/or the actual mass to a normal velocity of a given data record for each surface point, and specifying a velocity for each surface point on a current or planned path of the manipulator, such that the velocity at each surface point is less than or equal to an assigned normal velocity.
A method of teaching in a holding force for holding an object by a gripper of a robot manipulator, the gripper having gripper jaws elastically deformable in a reversible manner, the method including: closing the gripper until the gripper jaws contact the object at contact points of the gripper jaws; externally applying a desired closing force at connection points of the gripper jaws to gripper jaw bearings such that the connection points move relative to the contact points, thereby elastically deforming the gripper jaws; actuating a gripper drive to maintain the current position of the connection points and terminating the closing force externally applied onto the connection points; and ascertaining and storing a value of a gripping force or a gripping torque, wherein the gripping force or the gripping torque is produced by elastic deformation of the gripper jaws and is exerted onto the connection points by the gripper jaws.
A simulation method of specifying a relative position between a first base of a first robot manipulator and a second base of a second robot manipulator, including: determining a first working area of the first robot manipulator, wherein the first working area determines a finite plurality of tuples from possible positions of the first end effector and possible orientations of the first end effector in respective positions of the first end effector; determining, for each of a specified plurality of possible relative positions between the first base and the second base, a number of the tuples from the first working area as evaluation variables, for which a second end effector is capable of being positioned in a predefined orientation and/or at a predefined distance relative to the first end effector; and determining and outputting the relative position between the first base and the second base with a highest evaluation variable.
ext that indicate externally acting torques; and determining the center of gravity of the load by averaging respective estimations of coordinates of the center of gravity.
A mobile robot including a mobile base element and at least one multi-jointed manipulator, wherein the robot includes several telemedical devices. The invention also relates to a robot for performing a movement sequence together with a limb of a human with the help of a manipulator.
The invention relates to a method for controlling a robot manipulator (1), having the steps of: - providing (S1) a database containing body zones of a person, wherein each of the body zones is assigned a particular maximum permissible value of contact pressure, - determining (S2) a current or future contact event involving the robot manipulator (1) and the person and determining the body zone of the person with which contact is made, - determining (S3) a reference position that is fixed with respect to the body relative to the person, wherein the reference position indicates the beginning of the local progression of the pushing-in of tissue of the person during the contact event with the person, and - controlling (S4) the robot manipulator (1) in an impedance-controlled manner in such a way that the determined reference position as a zero position of an artificial spring component is used for impedance control of the robot manipulator (1) and the maximum permissible contact pressure as a limit value is not exceeded.
G05B 19/406 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
The invention relates to a method for determining an installation site of a robot manipulator (1) at a workstation (3), comprising the following steps: - recording (S1) a respective image of the robot manipulator (1) and of the workstation (3) of the robot manipulator (1) and of a workpiece (5) to be machined at the workstation (3), by way of a camera unit (7), wherein the respective image contains spatial information, - transmitting (S2) the respective image to a computing unit (9), and - determining (S3) the installation site of the robot manipulator (1) by applying a nonlinear optimization of a predefined cost function and/or a neural network by way of the computing unit (9) on the basis of a predefined task for machining the workpiece (5) and on the basis of spatial information determined from the respective image by the computing unit (9).
The invention relates to a method for optimising a control program of a robot manipulator (1), comprising the following steps: selecting (S1) and combining predefined program sections to form a structural definition of the control program; specifying (S2) parameters for the selected and combined program sections; automated and repeated execution (S3) of the control program with a variation of values of at least one portion of the parameters; determining (S4) a quality of a respective result of the respective execution of the control program; and storing (S5) selected varied values of the at least one portion of the parameters, wherein the values to be stored of the portion of the parameters are selected according to the determined quality as per a predefined quality criterion.
G05B 19/409 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panelNumerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control panel details or by setting parameters
G05B 13/02 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
30.
FORCE LIMITATION IN THE EVENT OF COLLISION OF A ROBOT MANIPULATOR
The invention relates to a method for a robot manipulator (1), having the following steps: - specifying (S1) a maximum permissible force to be exerted on an object (3) by the robot manipulator (1), - specifying (S2) a target position (5) of a reference point (7) of the robot manipulator (1), - determining (S3) a current position of the reference point (7), - executing an impedance control operation that determines a current reference force of an artificial spring component on the basis of a spring stiffness and the difference between the current position and the specified target position (5) of the reference point (7) of the robot manipulator (1), and - actuating (S5) the robot manipulator (1) so as to execute an emergency control program when the current reference force exceeds the specified maximum permissible force.
The invention relates to a control unit (1) for a robot manipulator (100), having an interactive operating unit (3) for displaying a first adjustment element (11) and a specified region (5) for the first adjustment element (11), wherein the first adjustment element (11) can be moved within the region (5) by means of an input of a user, and the interactive operating unit (3) detects a first position of the first adjustment element (11), said position being specified by the user, and transmits same to a computing unit (7) which ascertains weightings for a specified cost function on the basis of the position. The sum of the weightings is constant for all of the positions of the adjustment element, and the computing unit (7) ascertains parameters for a control program and/or a controller for the robot manipulator (100) on the basis of the cost function.
G05B 19/409 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panelNumerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control panel details or by setting parameters
32.
GENERATING A CONTROL PROGRAM FOR A ROBOT MANIPULATOR
The invention relates to a method for generating a control program, comprising the steps of: - executing (S1) an application by means of the first robot manipulator (1), - at the same time, determining (S2) trajectory data and/or force screw data, - determining (S3) robot commands from the stored time series, the robot commands being principal elements of a control program for a robot manipulator without relation to the design conditions of the first robot manipulator (1), and - generating (S4) the control program for the second robot manipulator (2) on the basis of the stored robot commands and on the basis of the design conditions of the second robot manipulator (2).
The invention relates to a gripping device for a robot for gripping objects (7, 19). According to the invention, gripper elements (9, 15) are rotatably mounted on the gripper fingers (8;13) of the gripping device.
The invention relates to a method for calibrating a virtual force sensor of a robot manipulator (1), wherein the following steps are carried out in a plurality of poses: - applying (S1) an external force screw to the robot manipulator (1), - ascertaining (S2) an estimate of the external force screw, - ascertaining (S3) a first calibration matrix on the basis of the ascertained estimate and a specified external force screw, - ascertaining (S4) a second calibration matrix by inverting the first calibration matrix, and - storing (S5) the respective second calibration matrix in a data set of all of the second calibration matrices, thereby assigning each second calibration matrix to the respective pose for which each second calibration matrix was ascertained.
The invention relates to a method for calibrating a virtual force sensor of a robot manipulator (1), wherein the following steps are carried out in a plurality of poses: - applying (S1) an external force screw to the robot manipulator (1), - ascertaining (S2) an estimate of the external force screw, - ascertaining (S3) a respective cost function on the basis of the difference between the ascertained estimate of the external force screw and the specified external force screw, - ascertaining (S4) a respective calibration function by minimizing the respective cost function, and - storing (S5) each calibration function in a data set of all of the calibration functions, thereby assigning each calibration function to the respective pose for which each calibration function was ascertained.
The invention relates to a method for calibrating an impedance control of a robot manipulator (1), comprising the steps: - displacing (S1) a reference point (3) of the robot manipulator (1) from a zero position to a displaced position, wherein the robot manipulator (1) applies an opposing force which is dependent on a spring constant of the impedance control and on a first determined excursion, wherein the first determined excursion is determined on the basis of joint angles detected by means of joint angle sensors (5) of the robot manipulator; - detecting (S2) a second determined excursion by means of an external position measuring unit (7); and - adapting (S3) the spring constant of the impedance control such that the opposing force applied by the robot manipulator (1) corresponds to a predefined opposing force of the robot manipulator (1) on the basis of the second determined excursion.
The invention relates to a robot system (1) having a robot manipulator (3), a control unit (5) and an operating unit (7), wherein the robot manipulator (3) comprises members (9) having degrees of freedom which are at least partially redundant relative to each other, the operating unit (7) being designed to detect an input of a user with respect to at least one selected direction of a force, the control unit (5) being designed to determine components, associated with the respective selected directions, of a transposing of a Jacobian matrix for a predefined position and/or orientation of the distal end (11) of the robot manipulator (3) in the zero space such that a first metric fulfils one of the following criteria on the basis of the components: not equal to zero, greater than a predefined limit value, maximum; and wherein the control unit (5) is designed to control the robot manipulator (3) in order to assume a pose according to the determined components.
The invention relates to a robot system (1) having a robot manipulator (3), a control unit (5), an operating unit (7) and an output unit (9), wherein the operating unit (7) outputs a multiplicity of modes and registers an input with respect to the modes, wherein the control unit (5) uses the input to parameterize control programs according to the selected mode and executes said control programs on the robot manipulator (1), and the output unit in the meantime indicates an output relating to the current mode, wherein each mode is used to minimize at least one of the following criteria with respect to the execution of the respective control program: time, energy, wear, noise, cost function, wherein the structure of the cost function is predefined and the cost function has at least one or a combination of the criteria.
G05B 19/409 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panelNumerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control panel details or by setting parameters
The invention relates to a robot manipulator (1), wherein a braking device (7) arranged on at least one of the joints (5) of the manipulator is activated by a control unit (7) in order to generate such a residual torque that a maximum torque is not exceeded at the joint (5), and the residual torque is determined on the basis of sensor determination and/or estimation of the torque currently present at the joint (5), wherein the estimation is based on a measure, multiplied by a first predefined factor, of a gravitational influence acting on the at least one of the joints (5), or is based on a dynamic model of the robot manipulator (1), said dynamic model having the gravitational influence, wherein the control unit (3) determines the gravitational influence on the basis of a joint angle vector with joint angles between the at least one of the joints (5) and a distal end of the robot manipulator (1).
The invention relates to a method for actuating a gripper (1) of a robot manipulator (3) by means of an adaptive closed-loop controller with a model (7) of the gripper (1), by means of which an estimated system output of the gripper (1) is ascertained on the basis of a system input of the gripper (1) and on the basis of a parameter adapted by means of an adaptive rule (9), wherein a manipulated variable for the system input is ascertained on the basis of the parameter, wherein - an estimated value for a friction in the gripper (1) is ascertained from a value of the adapted parameter and, for the compensation of friction in the gripper (1), is added as a pilot control variable to the manipulated variable, and/or - the parameter is adapted by means of the adaptive rule (9) not only on the basis of a difference, but additionally on the basis of an integral with respect to time of the difference, between the estimated system output and the ascertained actual system output.
Device for plugging a plug-in region of an expansion board into a plug-in coupling including: a first interface providing the coupling; a second interface providing the board; a robot manipulator having an effector; and a controller controlling the robot manipulator to plug the region into the coupling, the controller configured to execute a program for the robot manipulator to perform operations including: picking up the board at the second interface using the effector; guiding the board along a trajectory and target orientation of the region to the coupling; carrying out tilting motions of the region until reaching or exceeding a limit value condition G1 for a torque acting on the effector and/or a limit value condition G2 of a force acting on the effector, and/or reaching or exceeding a force/torque signature and/or a position/velocity/acceleration signature at the effector, indicating completion of plugging the region into the coupling within predefined tolerances.
The invention relates to a robot manipulator (1) comprising a joint (3) and an operating unit (5), said joint (3) having an actuator (7) which is regulated by a control unit (9). The operating unit (5) ascertains a first target variable at a first data rate for the control unit (9), and the control unit ascertains a second target variable at a second data rate, wherein the second data rate is higher than the first data rate. In defined cases, values of the second target variable between two values of the first target variable are ascertained by holding the most recent value of the first target variable, otherwise values of the second target variable are ascertained on the basis of the most recent value of the first target variable and on the basis of a change in the first target variable.
The invention relates to a robot manipulator (1), connected to an output unit (5) and to a computer unit (7), wherein a request interface (11) is designed for providing conformity requests, an information interface (13) is designed for providing system properties, and a task interface (15) is designed for providing a task, wherein the computer unit (7) is also designed to carry out a situation analysis based on the task, to determine a solution for executing the task based on a comparison of the conformity requests with the residual risk, to create documentation based on the task and/or the solution, and to transfer the documentation together with a signal for outputting a conformity mark to the output unit (5), and to control the robot elements and/or the end effector (3) to execute the task according to the solution.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
45.
METHOD FOR OPERATING A ROBOT MANIPULATOR WITH INCREASED MASS OF A LOAD
The invention relates to a method for operating a robot manipulator (1), wherein the end effector (3) carries a high load (5). The maximum admissible working space and kinematic variable (for example speed) is ascertained on the basis of the effects of the load (5) (for example inertial effects), and the predefined trajectory is ascertained such that the ascertained maximum admissible working space and the maximum admissible kinematic variable are adhered to. In particular, the method has the following steps: - ascertaining (S1) a wrench or joint moment vector on the basis of a weight force and/or an inertial force of the mass of a load (5), - ascertaining (S2) a maximum admissible working space and/or a maximum admissible kinematic variable, in each case on the basis of the wrench or joint moment vector, such that the wrench or the joint moment vector does not exceed a predefined metric within the working space, and - controlling (S5) the robot manipulator (1) to execute a task taking into consideration the maximum admissible kinematic variable and such that the end effector (3), or optionally the load (5) on the end effector (3), remains within the maximum admissible working space if, at the start of the execution of the task, the end effector (3) or optionally the load (5) on the end effector (3) is situated within the maximum admissible working space.
The invention relates to a method for verifying a mass model of a robot manipulator (1), having the steps of: - performing (S1) system identification in order to ascertain the mass model, - providing (S2) the estimate of the local gravity vector, - moving (S3) the robot manipulator (1) to a multiplicity of predefined locations, - actuating (S4) actuators (3) of the robot manipulator (1) using a pilot control signal from a gravity compensation system based on the mass model and the estimate of the gravity vector, - ascertaining (S5) a deflection of the position of the robot manipulator (1) by way of a sensor unit (7), - checking (S6) whether a deflection of the position of the reference point of other than zero occurs at the respective one of the predefined locations, and - executing (S7) a predefined response when a deflection of the reference point of other than zero occurs.
The invention relates to a method for collision detection for a robot manipulator (1), comprising the steps of: - determining (S1) an external torque acting on the robot manipulator (1) and/or an external force acting on the robot manipulator (1), - determining (S2) a time-dependent acceleration of the robot manipulator (1), - comparing (S3) the external torque and/or the external force with a respective time-dependent threshold value L(t), wherein the threshold value L(t) is dependent on the determined time-dependent acceleration of the robot manipulator (1), - detecting (S4) a collision, which is on occurrence, if a value of the external torque and/or a value of the external force exceeds the respective threshold value L(t), and - executing (S5) a predefined reaction of the robot manipulator (1) to the detected collision.
The invention relates to a method for specifying a desired contact force or a desired contact moment of a robot manipulator (1) and for a corresponding actuation of the robot manipulator (1), comprising the following steps: actuating actuators (3) such that the robot manipulator (1) counteracts a deflection generated by a user with a deflection-dependent resistance force or a deflection-dependent resistance moment; determining a force or moment applied in this way, while the robot manipulator (1) is freely moveable in the space; storing the determined force or moment; moving the robot manipulator (1) towards an object in the environment of the robot manipulator (1); and actuating the actuators (3) such that the robot manipulator (1) transmits the stored force or the stored moment to the object as a contact force or as a contact moment.
G05B 19/42 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
49.
TACTILE FEEDBACK OF AN END EFFECTOR OF A ROBOT MANIPULATOR OVER DIFFERENT ORIENTATION RANGES
The invention relates to a method having the steps of: - actuating (S1) actuators (5) of a robot manipulator (1) in order to compensate for the influence of gravity, - while the robot manipulator (1) is being manually guided: detecting (S2) the orientation of an end effector (3), and - actuating (S3) at least some of the actuators (5) such that while the end effector (3) is being manually guided, the end effector (3): a) either does not oppose the manual guiding process or opposes the manual guiding process with a speed-based resistance within a first range of a first end effector rotation and opposes the manual guiding process with a rotational angle-based resistance outside of the first range, said first end effector rotation being a rotation of the end effector (3) about the end effector longitudinal axis, and b) either does not oppose the manual guiding process or opposes the manual guiding process with a speed-based resistance within a second range of a second end effector rotation and opposes the manual guiding process with a deflection-based resistance outside of the second range, the second end effector rotation being a rotational deflection of the end effector (3) from the original longitudinal axis of the end effector or from a vertical axis.
G05B 19/42 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
35 - Advertising and business services
37 - Construction and mining; installation and repair services
38 - Telecommunications services
40 - Treatment of materials; recycling, air and water treatment,
41 - Education, entertainment, sporting and cultural services
42 - Scientific, technological and industrial services, research and design
44 - Medical, veterinary, hygienic and cosmetic services; agriculture, horticulture and forestry services
Goods & Services
Machines and machine tools for treatment of materials and
for manufacturing; engines, driving devices and controls for
the operation of machines and engines as well as parts of
machines for the goods referred to here in this class;
moving and handling equipment; agricultural, earthmoving,
construction, oil and gas extraction and mining equipment;
all the afore-mentioned goods in particular in the fields of
robotics, artificial intelligence, machine learning and deep
learning; robots [machines]; robots [machines] and systems
consisting thereof; robots for machine tools; robotic
apparatus for handling materials; robots for transferring
workpieces; robots for feeding workpieces; robots with
articulated arms for manipulating workpieces; robot arms;
robot arms for industrial purposes; transmission components
for robots; industrial manipulators [machines]. Scientific, research, navigation, surveying, photographic,
cinematographic, audiovisual, optical, weighing, measuring,
signalling, detection, checking, control, rescue and
teaching apparatus and instruments; apparatus and
instruments for conducting, switching, transforming,
storing, regulating or controlling the distribution or use
of electricity; apparatus and instruments for recording,
transmission, reproduction or processing of sound, images or
data; recorded and downloadable media; computers and
computer peripherals; all the afore-mentioned goods in
particular in the fields of robotics, artificial
intelligence, machine learning and deep learning; recorded
data; automatic control devices; computer hardware and
software; computer software [stored]; electrical control
devices for robots; electronic publications [downloadable];
periodicals, newspapers, magazines and books stored on
digital storage media and in electronic format; computer
programs [downloadable] and software for computers and
mobile devices; software applications for computers
[downloadable]; application software for mobile devices;
training and maintenance manuals in electronic form;
educational software; magnetic recording media; CDs; DVDs;
digital recording media; computer software; all the
afore-mentioned goods in particular in the fields of
robotics, artificial intelligence, machine learning and deep
learning; humanoid robots with artificial intelligence;
humanoid robots with artificial intelligence for the care of
the elderly, sick and disabled; artificial intelligence
software for healthcare; artificial intelligence software
for driverless cars; artificial intelligence software for
analysis; robots with artificial intelligence, namely
artificial intelligence devices [computer]. Medical and surgical robots, in particular with artificial
intelligence; robotic exoskeleton suits for medical
purposes; wearable walking assistive robots for medical
purposes. Retail, wholesale and mail order retail services in relation
to robot and software applications for robots; retail and
mail order retail services via the Internet [online shop] in
relation to robot and software applications for robots. Installation, cleaning, repair and maintenance work relating
to robots. Telecommunications; providing access to Internet portals;
providing Internet chatrooms; electronic communication by
means of chatrooms, chat lines and Internet forums;
providing access to databases; all the afore-mentioned
services in particular in the fields of robotics, artificial
intelligence, machine learning and deep learning. Rental of robots for assembly within the framework of
contract manufacturing; rental of robots for material
processing. Education; training; instruction; entertainment; training
and further training consultancy; arranging and conducting
of conferences, congresses and symposiums; arranging of
seminars, lectures and workshops [training]; publication of
printed matter; provision of electronic publications [not
downloadable]; all the above-mentioned services in
particular in the fields of robotics, artificial
intelligence, machine learning and deep learning. Scientific and technological services and research and
related design services; industrial analysis and research
services; technological consultancy services; design and
development of computer hardware and software; cloud
computing; all the above-mentioned services in particular in
the fields of robotics, artificial intelligence, machine
learning and deep learning; information services referred to
here in this class, provided through an online portal in the
fields of robotics, artificial intelligence, machine
learning and deep learning; providing computer programs for
artificial intelligence in data networks; platforms for
artificial intelligence as software as a service [SaaS];
software as a service [SaaS] with software for machine
learning, deep learning and deep neural networks; rental of
robots for the inspection and testing of objects; rental of
laboratory robots. Medical services; veterinary services; health and beauty
care for humans and animals; agricultural, horticultural and
forestry services; all the above-mentioned services in
particular in the fields of robotics, artificial
intelligence, machine learning and deep learning; rental of
medical and surgical robots.
51.
SYSTEM FOR PERFORMING AN INPUT ON A ROBOTIC MANIPULATOR
The invention relates to a system (100) for performing an input on a robotic manipulator (1), having: - a robotic manipulator (1) having a plurality of limbs connected to one another by articulations and having actuators (3), - a computing unit (5) connected to the robotic manipulator (1), - a sensor unit (7) connected to the computing unit (5), wherein the sensor unit (7) is designed to record an input variable, applied by the user by manually guiding the robotic manipulator (1), on the robotic manipulator (1), wherein the input variable is a kinematic variable or a force and/or a moment, and wherein the sensor unit (7) is designed to transmit the input variable to the computing unit (5), wherein the computing unit (5) is designed to transform the input variable by way of predefined input variable mapping, and the input variable mapping defines mathematical mapping of the input variable onto a coordinate of a graphical operating surface or onto a setting of a virtual actuator.
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
52.
METHOD FOR SPECIFYING AN INPUT VALUE ON A ROBOTIC MANIPULATOR
The invention relates to a method for specifying an input value on a robotic manipulator (1), having the steps of: - selecting (S1) a particular predefined input device to be emulated, wherein each of the input devices to be emulated is assigned at least one degree of freedom of the robotic manipulator (1) and local limits in the respective degree of freedom and a transfer function of transferring a coordinate of the robotic manipulator (1) in the degree of freedom onto the input value, - actuating (S2) the robotic manipulator (1) such that at least one part of the robotic manipulator (1) is able to be moved manually in the respective degree of freedom and within the local limits, - recording (S3) a respective coordinate in the respective degree of freedom during or after an input on the robotic manipulator (1) by way of a sensor unit (7), and - assigning (S4) the respective coordinate to the input value by applying the transfer function.
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
A screwing device including: a container for screws; a manipulator having an effector to pick up a screw; an isolating unit connected to the container to provide the screw from the container at an interface such that a head of the screw is accessible to the effector; and a control unit to control the manipulator in executing a control program to perform operations including: guiding the effector along a trajectory having an orientation to the screw head at the interface, wherein the orientation is defined for locations along the trajectory; and executing force-regulated, impedance-regulated, and/or admittance-regulated periodic and closed tilting movements of the effector in relation to its orientation until a condition for a torque, a force, or a time for carrying out the tilting movements is reached or exceeded, and/or a force/torque and/or a position/speed signature at the effector is reached or exceeded, indicating successful pick-up of the screw.
A robot having a robot manipulator with an effector, wherein the robot manipulator is designed and constructed for picking up, handling, and releasing an object and is controlled by a control unit, the robot including a first sensor means designed and constructed to determine a persisting adherence of the object to an effector after a release of the object by the effector, and where such an adherence persists, to generate a signal S, wherein when a signal S is present, the control unit is designed and constructed to control the robot manipulator in such a manner that it executes a predefined movement B in which the effector with the persistently adhering object is passed by a wiping object in such a manner that the adhering object is wiped off the effector on a surface or an edge of the wiping object.
The present invention relates, inter alia, to a brake assembly for a drive device for an articulated joint between two elements of a robot arm, which assembly comprises a brake activation device (1) and a locking element (2), wherein the brake activation device (1) is designed to bring the locking element (2) into engagement with a rotor (4) of the drive device as required to halt rotation of the rotor (4), the locking element being designed as a bolt (2) and the braking element being designed as a braking star (5) with webs (7) which have a defined impact surface (9) for the bolt (2).
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
F16D 63/00 - Brakes not otherwise provided forBrakes combining more than one of the types of groups
57.
FORCE WHICH CAN BE GENERATED DEPENDING ON THE MEASUREMENT RANGE OF A TORQUE SENSOR OF A ROBOTIC MANIPULATOR
The invention relates to a robot system (1) having a robotic manipulator (3), a computing unit (3) and a display unit (7), the robotic manipulator (3) having a plurality of limbs (11) connected to each other by joints (9), and the joints (9) each having a torque sensor (13) and a position sensor (15). Each torque sensor (13) has a measurement range having a lower limit and an upper limit and is designed to detect a respective torque and to transmit the respective torque to the computing unit (5), and each position sensor (15) is designed to detect a respective joint angle and to transmit the respective joint angle to the computing unit (5). The computing unit (5) is designed to determine, for at least one selected torque sensor (13), a component of the external wrench associated with the selected torque sensor on the basis of the lower limit and the upper limit of the measurement range of the selected torque sensor (13), the detected or theoretically determined torque at the selected torque sensor, the joint angle determined between the selected torque sensor (13) and a specified reference point on the robotic manipulator (3), the at least one component indicating which force and/or which torque can be applied to the reference point without the torque detected at the selected torque sensor reaching the lower limit or the upper limit. The computing unit (5) is designed to transmit at least one component of the external wrench to the display unit (7) for visual output.
The invention relates to a robot system (1) having: - a robot manipulator (3), - a control unit (5) connected to the robot manipulator (3), - an input device (7) connected to the control unit (5), wherein the input device (7) has a first positioning element, and a position of the first positioning element can be set by a user between a lower stop and an upper stop, said position of the first positioning element being assigned to a first variable between a preset lower limit and a preset upper limit, and said control unit (5) being designed to regulate the force of the robot manipulator (3) and to convert the first variable assigned to the current position of the first positioning element into a value of at least one first force regulation parameter via a preset model, said value of the at least one first force regulation parameter determining a force regulation range.
G05B 19/409 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panelNumerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control panel details or by setting parameters
G05B 11/42 - Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
The invention relates to a method for calibrating a first and a second torque sensor (11, 12) of a robot manipulator (3), wherein a first and a second element (21, 22) are connected to a first torque sensor (11) by means of the first joint (31) and can be rotated in a first angular range over which a torque due to gravity is constant, wherein a third and a fourth element (23, 24) are connected to a second torque sensor (12) by means of a second joint (32) and can be rotated in a second angular range over which a torque due to gravity varies in accordance with the articulation angle of the second joint (32), comprising the steps of: - rotating (S1) the first element (20) with respect to the second element (22) within the first angular range, and sensing first torques acting in the degree of freedom of the first joint (31), - rotating (S2) the first joint (23) with respect to the fourth element (24) within the second angular range into a second first setting angle and into a respective second setting angle from a multiplicity of setting angle tuples, so that the respective torques which are brought about at the first setting angle and at the second setting angle of a respective setting angle tuple of said tuples by the respective gravity acting on the elements of the robot manipulator (3) and which act in the degree of freedom of the second joint (32) are equal in magnitude and have opposite signs, and sensing a second torque which respectively acts on the respective first setting angle and on the respective second setting angle for each of the setting angle tuples, - calibrating (S3) the first torque sensor (11) on the basis of the sensed first torques, and - calibrating (S4) the second torque sensor (12) on the basis of a respective average, wherein the respective average is obtained by averaging the second torque sensed at the first setting angle and the second torque sensed at the second setting angle, for a respective setting angle tuple.
The invention relates to a method for specifying a safe speed for a robot manipulator (1), comprising the steps: - providing (S1) a database, wherein the database comprises a dataset for each of a plurality of selected surface points (5) on the robot manipulator (1), the datasets having an individual safe normal speed of the surface points (5) for a plurality of possible stiffnesses and/or masses of an object (3) from the environment of the robot manipulator (1), the normal speed, for each surface point (5), being the component of the speed vector standing perpendicular to the surface of the surface point (5) in question; - capturing (S2) an actual stiffness and/or an actual mass of the object (3) from the environment of the robot manipulator (1) by prior knowledge or by sensorial acquisition or assuming infinity; - assigning (S3) the captured actual stiffness and/or the actual mass to a safe normal speed of a specific dataset for a particular surface point (5); and - specifying (S4) a speed for a particular surface point (5) on an actual or planned track of the robot manipulator (1) such that the normal speed occurring at the particular surface point is lower than or equal to the assigned safe normal speed.
The invention relates to a robot system (1), comprising - a robot manipulator (3), - a control unit (5) which can be connected to the robot manipulator (3), and - an external robot module (7), the robot manipulator (3) having a plurality of elements connected to one another by articulated joints and the elements being movable relative to one another by joint actuators (9) in the degrees of freedom of the articulated joints. The external robot module (7) has a module interface (15) compatible with a control unit interface (13) of the control unit (5) for data transmission and is designed to transmit identifier information of the robot module (7) to the control unit (5) by data transmission. The control unit (5) is designed to create a control matrix on the basis of the identifier information and to generate, from a commanded movement or from a commanded execution of a task, a specific trajectory for each of the joint actuators (9), and a specific trajectory for a drive (11) of the robot module (7) and to transmit same to a motor control unit of each of the joint actuators (9) and of the drive of the robot module (7), the specific trajectories for the joint actuators (9) being coupled to one another and to the trajectory for the drive (11) of the robot module (7) in a manner specified by the control matrix, so that the robot manipulator (3) and the robot module (7) are controlled in a manner coordinated with one another.
G05B 19/408 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
63.
ROBOT GRIPPER AND METHOD FOR OPERATING A ROBOT GRIPPER
The invention relates to a method for the learning of a holding force for holding an object (9) by way of a gripper of a robot manipulator (3), having the steps of: a) closing gripper jaws (7) of the gripper (5) until the gripper jaws (7) make contact with the object (9) with a predefined closing force, b) checking whether the object (9) remains between the gripper jaws (7) on account of the predefined closing force, and - repeating (S1) steps a) and b) with a greater predefined closing force in repeated step a) than previous step a) for as long as step b) gives the result that the object (9) does not remain in the gripper jaws (7), and - storing (S2) the current predefined closing force when step b) has given the result that the object (9) remains in the gripper jaws (7).
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
The invention relates to a projection device (1) for a robot manipulator (3), the projection device (1) having a projection region and comprising: - a motion sensing system (11), the motion sensing system being designed to sense the motion of the projection device (1) relative to an object (7) lying in the surrounding area of the robot manipulator (3) and in the projection region of the projection system (1), - an orientation sensing system (13), the orientation sensing system being designed to sense the orientation of the projection device (1) relative to the object (7), - a distance sensing device (15), the distance sensing device (15) being designed to sense the distance of the projection device (1) relative to the object (7), - a computing unit (9) which is designed to control the projection device (1), on the basis of the sensed motion, the sensed orientation and the sensed distance of the projection device (1) relative to the object (7), such that in each case a projection image (5) projected by the projection device (1) onto the object (7) remains fixed in position and/or orientation on the object (7), irrespective of the motion of the projection device (1) located on the robot manipulator (3).
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
68.
ORIENTATION ANGLE DISPLAY DURING THE MANUAL GUIDANCE OF A ROBOT MANIPULATOR
The invention relates to a robot system (1) comprising a robot manipulator (3) and a visual output unit (9), the robot manipulator (3) having a robot link (5) and said robot link (5) having an inertial measuring unit (7), the inertial measuring unit (7) being designed to determine the direction of a gravity vector when the robot link (5) is immobile, and to determine, over a plurality of points in time, the actual orientation of the robot link (5) in relation to the gravity vector using an attitude gyro, and to transmit, to the visual output unit (9) the current orientation of the robot link (5) in relation to the gravity vector, and the visual output unit (9) is designed to display the current orientation of the robot link (5) in relation to the gravity vector.
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
69.
TEACHING A HOLDING FORCE FOR AN OBJECT IN A ROBOTIC GRIPPER
The invention relates to a method for teaching a holding force for holding an object (9) by means of a gripper (5) of a robot manipulator (3), said gripper (5) having gripper jaws (7) which can be elastically deformed in a reversible manner, wherein the method has the steps of: - closing (S1) the gripper (5) until the gripper jaws (7) contact the object (9) at contact points (15) of the gripper jaws (7), - externally applying (S2) a desired closing force at connection points (13) of the gripper jaws (7) to gripper jaw bearings (11) such that the connection points (13) move relative to the contact points (15), thereby elastically deforming the gripper jaws (7), - actuating (S3) a gripper drive (17) in order to maintain the current position of the connection points (13) and terminating the closing force externally applied onto the connection points (13), and - ascertaining and storing (S4) the value of a gripping force or a gripping torque, wherein the gripping force or the gripping torque is produced by the elastic deformation of the gripper jaws (7) and is exerted onto the connection points (13) by the gripper jaws (7).
The invention relates to a simulation method for specifying a relative position between a first base (11) of a first robot manipulator (10) and a second base (21) of a second robot manipulator (20), wherein a first working area of the first robot manipulator (10) is determined (H1), wherein the first working area determines a finite plurality of tuples from possible positions of the first end effector (12) and possible orientations of the first end effector (12) in the respective positions of the first end effector (12), wherein, for each of a specified plurality of possible relative positions between the first base (11) and the second base (21), a number of those tuples from the first working area are determined (H2) as evaluation variables, for which a second end effector (22) of the second robot manipulator (20) can be positioned in a predefined orientation and/or at a predefined distance relative to the first end effector (12), and wherein the relative position between the first base (11) and the second base (21) with the highest evaluation variable is determined and output (H3).
The invention relates to a method for calibrating a first robot manipulator (10) to a second robot manipulator (20), comprising the steps of: while detecting (S2) joint angles by a first pose detection unit (12): moving (S1) the first robot manipulator (10) through a large number of poses while retaining a first reference point (11) at a predefined calibration point (30); while detecting (S4) joint angles by a second pose detection unit (22): moving (S3) the second robot manipulator (20) through a large number of poses while retaining a second reference point (21) at the calibration point (30); for each of the large number of poses: ascertaining (S5) a kinematic chain which extends from a starting point fixed on the first robot manipulator (10), along the members of the first robot manipulator (10), as far as the calibration point (30), and further along the members of the second robot manipulator (20), to an end point fixed on the second robot manipulator (20), and ascertaining a relative position between the starting point and the end point and a relative orientation of the member or the basis (13) of the starting point and the member or the basis (23) of the end point; and ascertaining and storing (S6) an averaged relative orientation and an averaged relative position.
The invention relates to a method for teaching coordinated movement patterns of a first robot manipulator (10) and a second robot manipulator (20), having the steps of: - positioning (S1) a first end effector (11) of the first robot manipulator (10) at a first location of a load (30) and positioning a second end effector (21) of the second robot manipulator (20) at a second location of the load (30) such that the load (30) is contacted by the first end effector (11) and the second end effector (21) from opposite sides, - pressing (S2) the first end effector (11) and the second end effector (21) against the load (30) in order to hold the load (30), - detecting and storing (S3) a first position of the pressed first end effector (11) and a second position of the pressed second end effector (21) and/or the relative position between the first position and the second position and/or a holding force of the first end effector (11) and the second end effector (21) against the load (30) by means of a detection unit (40), - manually guiding (S4) the load (30) along a load path, - while manually guiding the load (30): actuating (S5) the first robot manipulator (10) and/or the second robot manipulator (20) by means of a computing and control unit (50) in order to hold the load (30) such that the first position is maintained relative to the load (30) and the second position is maintained relative to the load (30) and/or the relative position is maintained and/or the holding force is not undershot, and - while manually guiding the load: detecting and storing (S6) a first path of the first end effector and/or a first pose set of the first robot manipulator (10), and detecting a second path of the second end effector (21) and/or a second pose set of the second robot manipulator (20), in each case using a path detection unit (60).
G05B 19/425 - Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
73.
TEACHING PROCESS FOR A ROBOT SYSTEM CONSISTING OF TWO ROBOT MANIPULATORS
The invention relates to a method for teaching desired holding parameters when transporting a load (30) using a first robot manipulator (10) together with a second robot manipulator (20), having the steps of: - positioning (S1) a first end effector (11) of the first robot manipulator (10) at a first desired position of the load (30) by manually guiding the first robot manipulator (10), - positioning (S2) a second end effector (21) of the second robot manipulator (20) at a second desired position of the load (30) by manually guiding the second robot manipulator (20) such that the load (30) is contacted by the first end effector (11) and the second end effector (21) from opposite sides, - fixing (S3) the first robot manipulator (10) in its present pose by actuating drives of the first robot manipulator, - manually pressing (S4) the second end effector (21) against the load (30), - detecting (S5) a force and/or a torque which is produced by the manual pressing process and is transmitted from the second end effector (21) via the load (30) and acts on the first end effector (11) - storing (S6) the detected force and/or the detected torque as a desired holding force of the first end effector (11) and the second end effector (21) against the load (30) and storing the first desired position and the second desired position as a respective desired holding position in a respective control program, and - holding (S7) the load (30) by means of the first robot manipulator (10) and the second robot manipulator (20) with the desired holding force in a force- or impedance-controlled manner.
The invention relates to a method for learning and executing mutually coordinated paths (11, 22) of a first robot manipulator (10) and of a second robot manipulator (20), having the steps of: - manually guiding (S1) a first reference point of the first robot manipulator (10) over a desired first path (11), - capturing (S2) the first path (11) or capturing a first set of poses for the first path (11) and storing the first path (11) or the first set of poses in a first data record, - automatically traversing (S3) the first path (11) according to the first data record, - during automatic traversing of the first path (11): manually guiding (S4) a second reference point of the second robot manipulator (20) over a desired second path (22), - capturing (S5) the second path (22) or capturing a second set of poses for the second path (22) and storing the second path (22) or the second set of poses in a second data record, wherein the second data record is assigned to the first data record in such a manner that a location on the first path (11) is at least approximately assigned to each location on the second path (22), and - traversing the first path (11) in a synchronized manner by means of the first robot manipulator (10) according to the first data record and traversing the second path (22) by means of the second robot manipulator (20) according to the second data record.
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
75.
METHOD FOR DETERMINING A WEIGHT AND A CENTER OF GRAVITY OF A ROBOT MANIPULATOR LOAD
nextnextextnextext that indicate the externally acting torques; and - determining (S8) the center of gravity of the load (11) by averaging the respective estimations of coordinates of the center of gravity.
The present invention relates to a drive device for a joint, arranged between two axle members of a manipulator of a robotic system, for the rotational driving of one axle member relative to the other axle member, said drive device having: a motor (10), which drives a drive shaft (12); and an output element (3), which is connected to the one axle member and is directly or indirectly caused to rotate by the drive shaft (12), and the output element (3) is coupled to a torque sensor device (19).
The invention relates to a method for assisting the manual guidance of a robot manipulator (1), wherein: the robot manipulator (1) has a plurality of members (3), the members (3) being interconnected by joints (5) and rotatable relative to one another by actuators (4); and at least one subset of the joints (5) has mutually redundant degrees of freedom, so that at least one subset of the plurality of members (3) can be moved in a null space, said method comprising the steps: - a user positions (S1) a reference point (11) of an end effector (7) of the robot manipulator (1) at a desired position by manually guiding said robot manipulator (1), - the user actuates (S2) an input device (9) of the robot manipulator (1) in order to generate an input signal, - in response to the input signal: the end effector (7) is automatically aligned (S3) in a predefined orientation by the activation of the actuators (4) of at least two joints (5) with redundant degrees of freedom, within the null space, maintaining the position of the reference point (11) at the desired position.
The invention relates to a robot fixture (100) for securing a robot manipulator to a tabletop, having a base mounting unit (1) having a robot manipulator interface (3) for securing the robot manipulator on the base mounting unit (1), wherein the base mounting unit (1) introduces, over a surface, a weight force of the robot manipulator to an upper face of the tabletop, wherein a first end of a clamping arm (5) is arranged on an end face of the base mounting unit (1) and the clamping arm (5) has an arm portion leading away from the base mounting unit (1) and an arm portion extending parallel to the base mounting unit (1), such that, when mounting the base mounting unit (1) on the tabletop, the arm portion extending parallel to the base mounting unit (1) extends under the tabletop, and wherein a clamping slide (7), which is movable relative to the clamping arm (5) in the direction of the base mounting unit (1), is arranged on a second end of the clamping arm (5), and, on an end of the clamping slide (7) facing the base mounting unit (1), a support cushion (9) is arranged on the clamping slide (7), wherein the support cushion (9) is mounted about at least one axis in a torque-free manner relative to the clamping slide (7) and wherein the support cushion (9) presses the robot fixture (100) against a lower face of the tabletop.
F16B 2/12 - Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening external, i.e. with contracting action using sliding jaws
The invention relates to a robot container (1), having a computer housing (10) and a protective housing (20), wherein: on a first outer side of the computer housing (10) there are arranged a plurality of rollers (11) and a first computer housing interface (15A); on a second outer side of the computer housing (10), opposite the first outer side, there are arranged a robot manipulator (12) and a second computer housing interface (15B); inside the computer housing (10) there is arranged a control unit (13) connected to the robot manipulator (12); on a first outer side of the protective housing (20) there is arranged at least one support element (21) for supporting the protective housing (20) on a floor, and on a second outer side of the protective housing (20), opposite the first outer side, there are arranged an opening into a hollow space enclosed by the protective housing (20) and also a protective housing interface (25); the protective housing interface (25) can be reversibly connected optionally to the first computer housing interface (15A) or to the second computer housing interface (15B) such that when the robot manipulator (12) is introduced into the hollow space of the protective housing (20) and when the protective housing interface (25) is joined to the second computer housing interface (15B), the protective housing (20) and the computer housing (10) form a transport container that can be displaced via the rollers (11), and such that when the protective housing interface (25) is joined to the first computer housing interface (15A), the protective housing (20) forms a base for the computer housing (10), said base being undisplaceable as a result of the at least one support element (21).
The invention relates to a regulating device (1) of a control unit of a robot manipulator, having: - a switching element (3) which is designed to switch between at least two input signals (5, 7) of the switching element (3) on the basis of a switching command and to output the switched input signal, wherein a first input signal of the switching element (3) is a state (5) of the robot manipulator, as captured by means of a quantized and time-discrete sensor signal, and wherein a second input signal of the switching element (3) is a specification (7) of the state (5) of the robot manipulator, - a logic element (9) which is designed to output the switching command and to transmit the switching command to the switching element (3), and - a regulating error comparison unit (11) which is designed to form a difference between the state (5) of the robot manipulator, as captured by means of the quantized and time-discrete sensor signal, and the switched input signal and to output the difference as a signal.
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
G05B 11/42 - Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
The invention relates to a method for monitoring the motion of a robot manipulator (1), comprising the steps: - definition (S1) of an inadmissible position (3) for the robot manipulator (1), - definition (S2) of a curve (5) running along the robot manipulator (1) and having a one-dimensional travel coordinate s, at least one subset of all locations on the curve (5) being moved with the current pose of the robot manipulator (1), and - calculation (S3) of a distance d between the location of a current and/or predicted curve (5) and the inadmissible position (3).
The present invention relates to a robot having an additional force measuring device (5) and to a method for determining a movement space (S;B) by means of a robot.
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
The invention relates to, amongst other things, a mobile robot (1) comprising a base element (6) and at least one multi-jointed manipulator (10), wherein the robot (1) comprises several telemedical devices (2, 3, 4, 5). The invention also relates to a robot for performing a movement sequence together with a limb of a human with the help of a manipulator (22).
A61H 1/02 - Stretching or bending apparatus for exercising
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
A device and method for electrical testing of a component, the component including a contact point, wherein the device includes: an interface to provide the component; a robot manipulator having an effector configured to pick up, handle, and release the component; a receiving interface into which the component is insertable; a contacting device having a counter contact, the contacting device positioned in a first state so that the robot manipulator is able to insert/remove the component into/from the receiving interface, and positioned in a second state so that the counter contact is connected to the contact point of the component inserted into the receiving interface; an analysis unit connected to the counter contact and configured to perform electrical testing of the component using connection of the counter contact and the contact point in the second state; and a control unit to control the robot manipulator and the contacting device.
The present invention relates to a drive apparatus for a joint, arranged between two axle members of a manipulator of a robotic system, for the rotational driving of one axle member relative to the other axle member, said drive apparatus having: a motor (7) which drives a drive shaft (8); a drive element (3, 4) which is connected to the one axle member and is directly or indirectly caused to rotate by the drive shaft (8); and a circuit board (13) which is thermally conductively connected to a heat sink (24) of the motor (7).
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
H02K 9/22 - Arrangements for cooling or ventilating by solid heat conducting material embedded in, or arranged in contact with, the stator or rotor, e.g. heat bridges
H05K 7/20 - Modifications to facilitate cooling, ventilating, or heating
H02K 11/21 - Devices for sensing speed or position, or actuated thereby
H02K 11/33 - Drive circuits, e.g. power electronics
The present invention relates to a drive device for a joint, arranged between two axial members of a manipulator of a robot system, for driving the one axial member in rotation with respect to the other axial member, having a motor (7), which drives a drive shaft (8), having an output element (3, 4), which is connected to the one axial member and is set in rotation directly or indirectly by the drive shaft (8), and having a circuit board (13), on which a sensor device (18) for the drive provided by the drive shaft (8) and a sensor device (22) for the output provided by the output element (3, 4) are arranged.
extextextextextnN n∈Nextextdesdesm∈Nm ∉ nm ∉ n, wherein the first threshold value is lower than the second threshold value; and actuating (S4) the robot manipulator (1) in an error mode, if an unwanted collision of the robot manipulator (1) and/or an erroneous execution the the task is detected.
The invention relates to a method for operating a robot (1). The robot (1) has a computing unit (9) and a plurality of actuator units (3) and/or sensor units (5). The actuator units (3) and/or the sensor units (5) are actuated using a plurality of processes that can be ran in a parallel manner by means of the computing unit (9) in order to carry out a task. For at least one first part of the processes, a first hierarchy is defined, and for at least one second part of the processes, a second hierarchy is defined, wherein in the first hierarchy, a second process of the processes arranged below a first process of the processes is terminated upon being ran on the computing unit (9) if the first process of the processes is terminated, and in the second hierarchy, a third process of the processes arranged over a number of fourth processes of the processes is terminated if all of the fourth processes of the processes are terminated. For a third part of the processes, a sixth process of the processes of the third part is started in response to a command execution within a fifth process of the processes of the third part on the basis of the task, or a sixth process of the processes of the third part which is active when the fifth process of the processes is being ran is parameterized or terminated.
The invention relates to a method for inserting electronic components (5) to be tested into an object receiving portion (7) of a testing device in order to carry out functional testing, using a robot manipulator (1), as well as to a robot manipulator (1) for carrying out such a method.
This invention concerns a method for inserting different objects (12; 13; 14; 16; 16; 18; 21) into a common receiving device (7) by means of a robot manipulator (1) and a robot manipulator (1) for carrying out such a method.
The present invention concerns a method for inserting objects (5) into a common object holder (4) by means of a robot manipulator (1) and a robot manipulator (1) for carrying out such a method.
bbbbbaaaaa (10) from the user interface (3) to the key-collection device (5), the outer surface (17) of the cell (1) being transparent in a horizontal angle range of at least 45° over a height h.
The invention relates to a quick mounting mechanism (10) for fixing a robotic arm (32) in the region of an edge (40) of a worktop (38), comprising a carrier (12) having a U-shaped cross-section and having a long (14) and a short (16) limb for engaging about the worktop edge (40), and having at least one quick clamping mechanism (20), wherein the robotic arm (32) can be screwed on the outer side of the long limb (14) and the at least one quick clamping mechanism (20) is attached on the outer side of the short limb (16), the quick clamping mechanism being designed to exert a clamping force on a worktop (38) about which the carrier (12) is engaged, the clamping force pressing the worktop against the long limb (14) in a fixing manner. This makes it possible to use a robotic arm quickly for different kinds of tasks by dismounting the robotic arm at a first place of use and mounting same at a second place of use.
B25B 5/06 - Arrangements for positively actuating jaws
F16B 2/12 - Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening external, i.e. with contracting action using sliding jaws
F16M 13/02 - Other supports for positioning apparatus or articlesMeans for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
