EP 3580021 A2 20191218 - ROBOT
Title (en)
ROBOT
Title (de)
ROBOTER
Title (fr)
ROBOT
Publication
Application
Priority
- DE 102017102621 A 20170209
- EP 2018053096 W 20180207
Abstract (en)
[origin: SG11201907005XA] ROBOT The invention relates to a robot having: a moving manipulator (102) driven by means of actuators (101a-c), a first unit (103) for determining external forces and/or external 5 torques acting upon the manipulator (102), and a second unit (104) for controlling and regulating the actuators (101a-c) as a function of the determined external forces and/or external torques acting upon the manipulator (102), wherein the second unit (104) is designed to control/to regulate the actuators for a predefined sub-space T1 of a working space AR of the manipulator (102) such that the manipulator (102) recedes flexibly into 10 the sub-space T1 upon the application of a determined external force and/or of a determined external torque onto the manipulator (102) along a projection ⃗ 1 of the force and/or of the torque, wherein the following applies: 1 ⊆ , and the working space AR specifies all permitted translations and/or rotations of the manipulator (102), and to determine, for a space TK1 complementary to the sub-space T1, a projection ⃗ 1 of the 15 determined external force and/or of the determined external torque into the complementary space TK1, wherein the following applies: 1 ∩ 1 = { 0 } , 1 ⊆ , and 1 ⊆ , to classify the projection ⃗ 1 into one of several predefined classes with respect to amount and/or direction and/or time curve, wherein at least one event-discrete and/or continuous setpoint control command and/or one setpoint control rule is stored for 20 each predefined class, and to control/to regulate the actuators (101a-c) as a function of the classification of the projection ⃗ 1 based on the respective setpoint control command and/or setpoint control rule. (Fig. 1 accompanies abstract)
IPC 8 full level
B25J 9/16 (2006.01)
CPC (source: EP KR US)
B25J 9/1628 (2013.01 - EP KR); B25J 9/1633 (2013.01 - US); B25J 9/1669 (2013.01 - KR); B25J 9/1674 (2013.01 - US); B25J 9/1694 (2013.01 - US); B25J 13/085 (2013.01 - KR US); B25J 19/02 (2013.01 - US); G05B 19/02 (2013.01 - US); G05B 2219/39319 (2013.01 - EP KR US); G05B 2219/39346 (2013.01 - EP KR US)
Citation (search report)
See references of WO 2018146158A2
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 102017102621 B3 20180509; CN 110382175 A 20191025; CN 110382175 B 20230307; EP 3580021 A2 20191218; JP 2020506813 A 20200305; KR 102279382 B1 20210721; KR 20190112784 A 20191007; SG 11201907005X A 20190827; US 11325251 B2 20220510; US 2020001456 A1 20200102; WO 2018146158 A2 20180816
DOCDB simple family (application)
DE 102017102621 A 20170209; CN 201880009419 A 20180207; EP 18703993 A 20180207; EP 2018053096 W 20180207; JP 2019542692 A 20180207; KR 20197025483 A 20180207; SG 11201907005X A 20180207; US 201816480221 A 20180207