EP 3946827 A1 20220209 - DETERMINING A PARAMETER OF A FORCE ACTING ON A ROBOT
Title (en)
DETERMINING A PARAMETER OF A FORCE ACTING ON A ROBOT
Title (de)
ERMITTELN EINES PARAMETERS AUF EINEN ROBOTER WIRKENDEN KRAFT
Title (fr)
DÉTERMINATION D'UN PARAMÈTRE D'UNE FORCE AGISSANT SUR UN ROBOT
Publication
Application
Priority
- DE 102019204564 A 20190401
- EP 2020057047 W 20200316
Abstract (en)
[origin: WO2020200717A1] In a method according to the invention for determining a parameter (m, a) of a force (F) acting on a robot (10) on the basis of at least one joint moment (τ2, τ3) of the robot in at least one, in particular stationary, measurement pose of the robot, the joint moment is determined on the basis of a difference between a drive-side and an output-side position (qab,i - qan,i) of a drivetrain of the joint and/or a difference between a measurement configuration with the force acting on the robot and at least one previously assumed reference configuration without this force acting on the robot.
IPC 8 full level
B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC (source: EP)
B25J 9/1638 (2013.01); G05B 2219/37621 (2013.01); G05B 2219/39055 (2013.01); G05B 2219/39189 (2013.01); G05B 2219/39319 (2013.01); G05B 2219/39321 (2013.01)
Citation (search report)
See references of WO 2020200717A1
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 102019204564 A1 20201001; EP 3946827 A1 20220209; WO 2020200717 A1 20201008
DOCDB simple family (application)
DE 102019204564 A 20190401; EP 2020057047 W 20200316; EP 20711903 A 20200316