EP 4103363 A1 20221221 - FORCE LIMITATION IN THE EVENT OF COLLISION OF A ROBOT MANIPULATOR
Title (en)
FORCE LIMITATION IN THE EVENT OF COLLISION OF A ROBOT MANIPULATOR
Title (de)
KRAFTBEGRENZUNG BEI KOLLISION EINES ROBOTERMANIPULATORS
Title (fr)
LIMITATION DE FORCE EN CAS DE COLLISION D'UN ROBOT MANIPULATEUR
Publication
Application
Priority
- DE 102020103857 A 20200214
- EP 2021053129 W 20210210
Abstract (en)
[origin: WO2021160635A1] 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.
IPC 8 full level
B25J 9/16 (2006.01)
CPC (source: EP KR US)
B25J 9/1633 (2013.01 - KR US); B25J 9/1666 (2013.01 - US); B25J 9/1676 (2013.01 - EP KR); B25J 9/1633 (2013.01 - EP); B25J 13/08 (2013.01 - KR); G05B 2219/39338 (2013.01 - EP KR); G05B 2219/40198 (2013.01 - EP KR); G05B 2219/40201 (2013.01 - EP KR); G05B 2219/40587 (2013.01 - EP KR)
Citation (search report)
See references of WO 2021160635A1
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
Designated validation state (EPC)
KH MA MD TN
DOCDB simple family (publication)
DE 102020103857 A1 20210819; DE 102020103857 B4 20230302; CN 115003462 A 20220902; EP 4103363 A1 20221221; JP 2023513603 A 20230331; KR 20220137735 A 20221012; US 2023107982 A1 20230406; WO 2021160635 A1 20210819
DOCDB simple family (application)
DE 102020103857 A 20200214; CN 202180011277 A 20210210; EP 2021053129 W 20210210; EP 21709343 A 20210210; JP 2022549098 A 20210210; KR 20227030767 A 20210210; US 202117794501 A 20210210