EP 4334090 A1 20240313 - METHOD AND SYSTEM FOR CONTROLLING A TELEROBOTIC ROBOT
Title (en)
METHOD AND SYSTEM FOR CONTROLLING A TELEROBOTIC ROBOT
Title (de)
VERFAHREN UND SYSTEM ZUM STEUERN EINES TELEROBOTERS
Title (fr)
PROCÉDÉ ET SYSTÈME DE COMMANDE D'UN ROBOT TÉLÉROBOTIQUE
Publication
Application
Priority
- DE 102021204494 A 20210504
- EP 2022060749 W 20220422
Abstract (en)
[origin: WO2022233607A1] The invention relates to a method for controlling a telerobotic robot (1) using an input device which has a movable actuator (3), having the following steps, which are repeated multiple times in particular: - commanding (S50) a target pose of a reference of the telerobotic robot, said reference being fixed to the robot, on the basis of a detected position of the actuator; and - commanding (S50) a target force of the actuator; wherein a contact operating mode is carried out if a contact is ascertained between the reference fixed to the robot and an obstacle in a contact direction, and a non-contact operating mode is carried out after said contact is no longer ascertained and/or before said contact is ascertained. In the contact operating mode, the target force has a contact force component of a virtual spring, said contact force component simulating a contact between the reference fixed to the robot and an obstacle, and the contact force component is omitted in the non-contact operating mode.
IPC 8 full level
B25J 9/16 (2006.01)
CPC (source: EP KR)
B25J 9/1689 (2013.01 - EP KR); G05B 2219/40144 (2013.01 - EP KR); G05B 2219/40194 (2013.01 - EP KR)
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 102021204494 A1 20221110; CN 117642256 A 20240301; EP 4334090 A1 20240313; KR 20240004895 A 20240111; WO 2022233607 A1 20221110
DOCDB simple family (application)
DE 102021204494 A 20210504; CN 202280047703 A 20220422; EP 2022060749 W 20220422; EP 22725198 A 20220422; KR 20237041669 A 20220422