Robust and intuitive operating method via touch manipulator

A manipulator and operator technology, applied in instruments, simulators, electric controllers, etc., can solve problems such as manipulator drift, manipulator acceleration, inability to distinguish stuck situations, etc., to improve robustness, large-scale Tolerance, Effect of High Error Tolerance

Active Publication Date: 2020-07-03
KUKA ROBOTER
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

On the one hand, the manipulator is prone to "drift" due to model errors
This drift is particularly disadvantageous in the method described at the beginning, since the manipulator will start immediately as soon as the confirmation key is pressed
Furthermore, this known method cannot differentiate the stuck situation (e.g. after a collision) by model error
If the manipulator is activated with such large model errors as typically occurs when it gets stuck, the manipulator accelerates very quickly, which can be negative or even catastrophic for the workflow being performed and for nearby operators sexual influence

Method used

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  • Robust and intuitive operating method via touch manipulator
  • Robust and intuitive operating method via touch manipulator
  • Robust and intuitive operating method via touch manipulator

Examples

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Embodiment Construction

[0024] According to the invention, in the method described above, by taking into account the variation of the measured values ​​instead of the model error (the difference between the modeled torque and the measured torque), a user request can be recognized particularly robustly, the following Let's explain about this.

[0025] user request identification

[0026] A simple realization of the user request "start" is based on the measured torque compared to the modeled torque of the internal dynamic model of the manipulator. Such a dynamic model is usually determined by determining the dynamic equations of the manipulator from the weights and geometric dimensions of the manipulator's components, for example by Lagrange-Formalismus or Newton-Euler algorithms. The dynamic model can simulate what torque is required to move the manipulator properly, or to keep the manipulator in a predetermined pose against the force of gravity.

[0027] According to the simple implementation des...

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Abstract

The invention relates to a method for controlling a manipulator. The method according to the invention here includes starting the manipulator in response to the recognition of a start request by an operator, wherein this recognition of the start request includes monitoring changes in measured values ​​characterizing the state of the manipulator. This significantly increases the robustness of the detection of the start request.

Description

technical field [0001] The invention relates to a method for controlling a manipulator, in particular an articulated arm robot, in order to ensure a robust, intuitive operation of the manipulator. Background technique [0002] Manipulators and especially articulated arm robots are freely programmable program-controlled processing devices. A manipulator can consist of many movable, interlinked limbs or axes that define the kinematic chain of the manipulator. The kinematic chain usually extends from the manipulator foot to the flange of the manipulator, or to a possibly present tool connected to the flange. [0003] In this case, the movement of the individual axes of the manipulator can be achieved by targeted adjustment of the drives connected to the individual components of the manipulator. For the movement between the individual points, certain parameters, such as speed, can be predetermined during programming of the manipulator program. [0004] A known manipulator and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/423B25J9/16
CPCB25J9/1633G05B19/423G05B2219/36418G05B2219/36483G05B11/01G05B19/19G05B23/02G05B2219/39001
Inventor 京特·施赖伯B·普法夫
Owner KUKA ROBOTER
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