EP 3129841 A1 20170215 - METHOD FOR HANDLING AN OBJECT BY MEANS OF A MANIPULATOR AND BY MEANS OF AN INPUT TOOL
Title (en)
METHOD FOR HANDLING AN OBJECT BY MEANS OF A MANIPULATOR AND BY MEANS OF AN INPUT TOOL
Title (de)
VERFAHREN ZUM HANDHABEN EINES OBJEKTS MITTELS EINES MANIPULATORS UND EINEM EINGABEWERKZEUGS
Title (fr)
PROCÉDÉ DE MANIPULATION D'UN OBJET AU MOYEN D'UN MANIPULATEUR ET D'UN OUTIL D'INTRODUCTION DE DONNÉES
Publication
Application
Priority
- DE 102014004919 A 20140407
- EP 2015000735 W 20150407
Abstract (en)
[origin: WO2015154870A1] The invention relates to a method for handling an object (1) by means of a manipulator (5) and by means of an input tool (7), wherein the input tool (7), which has an internal coordinate system (K'), is mechanically connected to the object (1); wherein the control unit (6) of the manipulator, which control unit has an external coordinate system (K), and wherein first the internal coordinate system (K') is calibrated to the external coordinate system (K) in that a sample motion of the manipulator in a known direction (r) in relation to the external coordinate system (K) is triggered; wherein the resulting direction (r') in relation to the internal coordinate system (K') is determined by means of the input tool (7); and wherein a coordinate transformation (T) is determined, which transforms the resulting direction (r') in the internal coordinate system (K') into the known direction (r) in the external coordinate system (K). In order to move the object (1) in a direction desired by a user, an internal direction (d') in the internal coordinate system (K') input by the user at the input tool (7) is sensed, which internal direction represents the desired motion; the previously determined coordinate transformation (T) is applied to the sensed internal direction (d') in order to obtain an external direction (d) in the external coordinate system (K); and the manipulator and thus also the object (1) are actuated in the external direction (d).
IPC 8 full level
G05B 19/423 (2006.01); B25J 9/16 (2006.01)
CPC (source: CN EP KR US)
B25J 9/1692 (2013.01 - EP KR US); B65G 47/902 (2013.01 - CN); B65G 47/905 (2013.01 - CN); G05B 19/423 (2013.01 - EP KR US); G05B 2219/36433 (2013.01 - EP KR US); G05B 2219/39398 (2013.01 - EP KR US); Y10S 901/41 (2013.01 - EP US)
Citation (search report)
See references of WO 2015154870A1
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
DOCDB simple family (publication)
DE 102014004919 A1 20151008; DE 102014004919 B4 20220512; CN 106458476 A 20170222; CN 106458476 B 20200103; EP 3129841 A1 20170215; JP 2017514707 A 20170608; JP 6570540 B2 20190904; KR 102400668 B1 20220520; KR 20160144424 A 20161216; US 10300602 B2 20190528; US 2017129106 A1 20170511; WO 2015154870 A1 20151015
DOCDB simple family (application)
DE 102014004919 A 20140407; CN 201580023748 A 20150407; EP 15720201 A 20150407; EP 2015000735 W 20150407; JP 2016561763 A 20150407; KR 20167031027 A 20150407; US 201515302629 A 20150407