| (19) |
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(11) |
EP 3 610 993 A8 |
| (12) |
CORRECTED EUROPEAN PATENT APPLICATION |
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Note: Bibliography reflects the latest situation |
| (15) |
Correction information: |
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Corrected version no 1 (W1 A1) |
| (48) |
Corrigendum issued on: |
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01.07.2020 Bulletin 2020/27 |
| (43) |
Date of publication: |
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19.02.2020 Bulletin 2020/08 |
| (22) |
Date of filing: 14.08.2018 |
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| (51) |
International Patent Classification (IPC):
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| (84) |
Designated Contracting States: |
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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 |
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Designated Extension States: |
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BA ME |
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Designated Validation States: |
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KH MA MD TN |
| (71) |
Applicant: Beckman Coulter, Inc. |
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Brea, CA 92821 (US) |
|
| (72) |
Inventor: |
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- SCHULMAYR, Günter
85635 Höhenkirchen-Siegertsbrunn (DE)
|
| (74) |
Representative: Maiwald Patent- und Rechtsanwaltsgesellschaft mbH |
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Elisenhof
Elisenstraße 3
80335 München
80335 München (DE) |
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| |
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| (54) |
SYSTEM FOR ACTIVE MOTION DISPLACEMENT CONTROL OF A ROBOT |
(57) The present invention relates to a system (100) for active motion displacement control
of a robot, the system comprising: a DCL device (110), which is configured to set
a desired position of a portion of a kinematic chain; a MDB device (120), which is
configured to generate a motion profile for at least one actor device (130) coupled
to the portion of the kinematic chain based on the set desired position of the portion
of the kinematic chain; the actor device (130), which is configured to move the portion
of the kinematic chain to an actual position based on the generated motion profile;
a sensor device (140), which is configured to measure the actual position of the portion
of the kinematic chain and, thereon based, provide position data of the portion of
the kinematic chain; wherein the MDB device (120) is further configured to determine
an estimated offset and provide a feedback path to a control loop used by the MDB
device (120) based on the provided position data of the portion, the desired position
of the portion, and the estimated offset.