CN112601640A - Robot adjustment - Google Patents
Robot adjustment Download PDFInfo
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- CN112601640A CN112601640A CN201980054794.0A CN201980054794A CN112601640A CN 112601640 A CN112601640 A CN 112601640A CN 201980054794 A CN201980054794 A CN 201980054794A CN 112601640 A CN112601640 A CN 112601640A
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- Prior art keywords
- robot
- force
- joint
- cartesian
- freedom
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39222—Disturbance rejection, suppression
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39347—Joint space impedance control
Abstract
A method according to the invention for adjusting a robot (1) adjusts (S20) at least one joint adjuster (31-36) for adjusting a joint of the robot based on a pose of the robot and a set force and position weight of at least one cartesian degree of freedom of a reference object fixed to the robot.
Description
Technical Field
The present invention relates to a method and a system for adjusting a robot, and a computer program product for performing the method.
Background
The robot should typically approach a set cartesian (target) position with a reference fixed to the robot or apply (target) forces to its surroundings in cartesian degrees of freedom or in the working space of the robot.
For this purpose, the robot usually has a joint adjuster. The joint adjuster is commanded based on a set cartesian target position in a pure position adjustment and based on a set cartesian target force in a pure force adjustment.
In the present invention, for a more compact representation, the antiparallel couple or torque is also referred to in general terms as force and the direction as position in a manner customary in the art, so that the (target) torque or the (target) direction set in the working space can also be converted by force or position adjustment.
Depending on the business-internal practice, the setting of the joint adjuster for pure position adjustment is different, preferably (more) rigid, than for pure force adjustment, so that the pure position adjustment can (more) accurately approach the (target) position. In contrast, according to the internal business practice, the setting of the joint adjuster for pure force adjustment is correspondingly (more) softer than for pure position adjustment, so that the reaction of pure force adjustment to the disturbance force is (more) sensitive.
In certain robotic applications, a (target) position or a (target) force should be set or achieved. For example, for robot-assisted grinding, it is suitable to set the force perpendicular to the grinding surface and the position in other cartesian degrees of freedom, in particular in translational degrees of freedom transverse to the direction of the force.
In this case, mixed force-position control is known from the internal business practice, in which the respective input variables of the joint controller are determined from the force control component and the position control component by means of a set complementary selection matrix.
In this case, the fixedly arranged joint controller cannot optimally switch such input variables (application program).
Disclosure of Invention
The aim of the invention is to improve the adjustment of a robot.
The object of the invention is achieved by a method having the features of claim 1. Claims 8 and 9 claim a system or a computer program product for performing the method described herein. Preferred developments are given by the dependent claims.
According to one embodiment of the invention, one or more joint actuators, in particular one or more single joint actuators (Einzelgelenkregler), which (respectively) adjust at least one, in one embodiment exactly one, joint or axis of the robot or (for this purpose) command a joint drive of the robot, are adjusted or set or changed (respectively) on the basis of or in accordance with the set force and position weights of the pose of the robot and of one or more cartesian degrees of freedom of a reference object fixed to the robot, or are provided, in particular designed or used for this purpose.
In one embodiment, the adjustment behavior of the robot can be improved by taking into account the pose of one or more cartesian degrees of freedom of a reference object fixed to the robot and the set force and position weights, in particular in comparison to joint adjusters provided for pure position adjustment or pure force adjustment.
In one embodiment, the robot has at least three, in particular at least six, in one embodiment at least seven, joints or (kinematic) axes, in one embodiment revolute joints.
The invention is particularly advantageous for such robots due to its versatility.
One or more of the joint actuators may accordingly comprise one or more, in particular cascaded, joint position actuators, joint velocity actuators, joint actuators, in particular joint moment actuators, (drive) current actuators and/or (drive) voltage actuators (stages), in particular proportional actuators, integral actuators and/or differential actuators (stages), in particular such actuators.
The reference fixed to the robot may in particular comprise an end-effector-side and/or contact point, in particular a tool reference point or a tool coordinate system (tool center point, TCP), in particular such a point or such a coordinate system.
The cartesian degrees of freedom may in particular comprise (fixed to a reference object of the robot) translational and/or rotational degrees of freedom in a (cartesian) working space of the robot, in particular such degrees of freedom.
In one embodiment, the pose of the robot is determined by the position of its joints.
In one embodiment, during the operation, in particular the movement, of the robot, one or more joint adjusters are adjusted, in one embodiment in the form of an interpolated clock, on the basis of the current and/or predicted pose and set force and position weights of the robot, in one embodiment online or on-the-fly.
Thereby the adjustment performance of the robot can be (further) improved.
In one embodiment, the joint controller commands (respectively) at least one, in one embodiment exactly one, and in one embodiment an electric joint drive of the robot, in one embodiment with an electric motor and/or a transmission, based on or according to a set cartesian target force and a set cartesian target position, in particular based on or by means of (by) a hybrid force-position adjustment, in particular as follows or according to the following criteria: i.e. to achieve the target force or target position or to reduce deviations from the target force or target position, or the joint controller is designed or used for this purpose.
As mentioned in the introduction, the cartesian target direction is also generally referred to as target position and the target torque as target force in the present invention. Accordingly, in one embodiment, the target position and/or the target force have six dimensions, which may be, in particular, what is known as torsion (Wrench) or Twist (Twist). If the force is narrowly denoted by F and the torque is denoted by t, these can therefore be combined to form a force F in the sense of the invention, in particular if F ═ FT,tT]TIn the form of (1). And similarly, position and orientation.
In one embodiment, the hybrid force/position control is performed by means of a selection matrix, in which a force control component is determined as a function of a deviation of a target force from an actual force detected, in particular determined with the aid of a dynamic model, or detected in a sensor-related manner with respect to a reference fixed to the robot; by means of the selection matrix, in one embodiment a complementary selection matrix, a position adjustment component is determined as a function of the deviation of the target position from the acquired actual position, in particular determined with the aid of a dynamic model, the two adjustment components being added and supplied as input variables to the joint adjuster or adjusters.
Thereby the adjustment performance of the robot can be (further) improved.
In one embodiment, the force and position weights depend on: how strong the force adjustment should be in the respective cartesian degree of freedom, or what value the force should be applied in that degree of freedom, or how important the force applied by the robot in that degree of freedom or the force acting on the robot from the outside is; and how strong the position adjustment should be in this degree of freedom, or how important it is for precise positioning in this degree of freedom, or what values apply in relation to this, in particular in relation to each other, it may especially account for or quantify this. Accordingly, in one embodiment, the force and location weights include a force weight and a location weight.
In one embodiment, the force and position weights are, in particular, set in advance or prior to the operation and/or movement of the robot.
Additionally or alternatively, in an embodiment, the force and position weights are, in particular are, set based on the robot application.
In one embodiment, the force to be set or the position to be set can therefore be weighted more heavily or preferred in different cartesian degrees of freedom depending on the application. In the case of the robot-assisted grinding mentioned by way of example at the outset, it is therefore possible to obtain greater weight or preference for forces in the translational direction perpendicular to the grinding surface and to obtain greater weight or preference for positions in other cartesian degrees of freedom, in particular in the translational degree of freedom transversely to the force direction.
Additionally or alternatively, in an embodiment, the force and position weights are, in particular are, set by an operator, in an embodiment are selected or adjusted by the operator, preferably within a set adjustment range, which may be, for example, between 0 and 1 or the like, in particular by or based on a corresponding user input.
Additionally or alternatively, in one embodiment, the force and position weights are, in particular are, set by means of at least one selection matrix, in one embodiment by means of a selection matrix for the force weights and a selection matrix for the position weights, in one development the selection matrix for the force weights and the selection matrix for the position weights are not (necessarily) complementary.
Thereby, it is possible to (further) improve the adjustment performance of the robot, in particular (more) specifically and/or (more) simply coordinate the adjustment performance of the robot, respectively, in particular in a manner that combines two or more of the above-mentioned features.
In one embodiment, one or more joint actuators are (respectively) adjusted on the basis of the set force and position weights of at least one cartesian degree of freedom such that the joint actuators (respectively) counteract the deviation of the reference object fixed to the robot from the set cartesian target position in the degree of freedom with a higher position weight than with a higher force weight. In other words, the joint adjuster is set harder due to the higher position weight of the cartesian degrees of freedom than in the case of a (relatively) higher force weight.
Thereby the adjustment performance of the robot can be (further) improved.
In one embodiment, one or more coefficients of one or more joint actuators, in one embodiment one or more proportionality, integral and/or differentiation (gain) coefficients, are adjusted (respectively) on the basis of or as a function of the pose of the robot and the set force and position weights; in one embodiment, the adjustment is made between an extreme value of the set maximum position weight and an extreme value of the set maximum force weight; in one embodiment, the adjustment is performed by linear interpolation or the like.
Thereby the adjustment performance of the robot can be (further) improved.
Additionally or alternatively, in one embodiment, the one or more joint adjusters are adjusted (respectively) on the basis of a jacobian matrix of a reference object fixed to the robot, in particular an inverse of the optionally weighted jacobian matrix, in particular a normalized and/or weighted inverse, in particular a pseudo-inverse, and/or a transpose of the optionally weighted jacobian matrix; in one embodiment, one or more joint actuators are adjusted on the basis of the sensitivity factor of the joint actuator(s) associated with the, if necessary, weighted jacobian matrix.
This makes it possible to improve the adjustment behavior of the robot individually, in particular in combination.
In one embodiment, the jacobian matrix of the robot-fixed reference linearly maps the joint velocity to the cartesian (translational and rotational) velocity of the robot-fixed reference in a known manner. This advantageously allows a change between cartesian working space and joint space. In one embodiment, the jacobian matrix is weighted with the quality matrix, in particular in one embodiment the quality matrix is multiplied from the right, whereby in one embodiment a particularly advantageous adjustment can be achieved. In one embodiment, the mass matrix maps joint acceleration to force in a known manner.
The inverse, in particular the pseudo-inverse, is particularly advantageous for position adjustment. Accordingly, in one embodiment, the sensitivity factor of the (respective) joint adjuster is determined on the basis of the inverse or pseudo-inverse, in one embodiment a normalized and/or weighted inverse or pseudo-inverse, and the selection matrix for the position weights.
The transposition is particularly advantageous for force adjustment. Accordingly, in one embodiment, the one or more sensitivity factors of the (respective) joint adjuster are determined (also) on the basis of the transpose, in one embodiment a normalized and/or weighted transpose, and the selection matrix for the force weights.
In one embodiment, by weighting the inverse or transpose, in one embodiment by multiplying by a corresponding weight matrix, a (pseudo) metric space (pseudo) metrischer Raum) can be used or compensation for translational and rotational positions or forces in different dimensions can be made.
In one embodiment, differences between the axes or joint adjusters can be compensated for by normalizing the inverse or transpose, which is weighted if necessary, in one embodiment to a value between 0 and ± 1, in particular between 0 and (+) 1.
According to one embodiment of the invention, a system is proposed, in particular designed by hardware and/or software technology, in particular programming technology, for carrying out the method described here and/or has: means for adjusting at least one joint adjuster for adjusting a joint of the robot based on the pose of the robot and the set force and position weight of the at least one cartesian degree of freedom of a reference object fixed to the robot.
In one embodiment, the system or apparatus thereof comprises:
means for adjusting the joint controller during operation of the robot based on current and/or predicted pose of the robot and the set force and position weights; and/or
Means for adjusting the joint controller on the basis of the set force and position weights of at least one cartesian degree of freedom such that the joint controller counteracts a deviation of a reference object fixed to the robot from the set cartesian target position in the degree of freedom with a higher position weight than with a higher force weight; and/or
Means for adjusting at least one coefficient of the joint controller based on the pose of the robot and the set force and position weights, in particular between the set extreme value for the maximum position weight and the set extreme value for the maximum force weight; and/or
Means for adjusting the joint adjuster based on a jacobian matrix of a reference object fixed to the robot, in particular a normalized and/or weighted inverse and/or transpose of the jacobian matrix.
A device according to the invention can be configured in hardware and/or software, in particular with: a processing unit, in particular a digital processing unit, in particular a micro processing unit (CPU), a graphics card (GPU), etc., preferably in data connection or signal connection with a memory system and/or a bus system; and/or one or more programs or program modules. The processing unit can be designed for this purpose: executing instructions implemented as a program stored in a storage system; collecting an input signal from a data bus; and/or send output signals to a data bus. The storage system can have one or more, in particular different, storage media, in particular optical, magnetic, solid-state and/or other non-volatile media. The program may be provided as follows: i.e. it is capable of embodying or performing the method described herein, such that the processing unit is capable of performing the steps of the method and thereby in particular of adjusting the robot. In one embodiment, a computer program product may have, in particular may be, in particular, a non-volatile storage medium for storing a program or a storage medium having a program stored thereon, wherein execution of the program causes a system or a controller, in particular a computer, to carry out the method described herein or one or more steps of the method.
In one embodiment, one or more, in particular all, steps of the method are performed fully or partially automatically, in particular by the system or a device thereof.
In one embodiment, the system has a robot.
Drawings
Further advantages and features are given by the dependent claims and embodiments. To this end, parts are schematically shown:
FIG. 1 is a system for adjusting a robot according to one embodiment of the present invention;
FIG. 2 is a joint adjuster of the system; and
fig. 3 is a method for adjusting a robot according to an embodiment of the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
FIG. 1 shows a schematic view of aA system according to one embodiment of the invention is shown with a robot controller 2 for adjusting a robot 1 with six revolute joints whose positions or joint coordinates are q1,...,q6To indicate.
The robot guides the workpiece 3 on a stationary grinding belt 4.
Therefore, the robot should apply the target force in a cartesian translation direction (vertically in fig. 1) perpendicular to the grinding belt 4 and approach the target position of the target trajectory in a cartesian translation direction (i.e., horizontally in fig. 1) transverse to the force direction.
Accordingly, in the hybrid force position regulation, by means of a complementary selection matrix,
in a known manner and therefore not described further here, the cartesian target and actual forces in the force adjustment section 10 are taken into account
The difference between them to determine the force adjustment component
And according to the Cartesian target position and the actual position in the position adjustment section 20
The difference between them to determine the position adjustment component
Adding the force adjustment component to the position adjustment component and summing the components of the sum yd,1,...,yd,6Are provided as input variables to the single joint regulator 31.
For example, the single joint controllers 31, 36 may each have a proportional (gain) coefficient of P1,...,P6The rotational speed regulator (Drehzahlregler).
The operator sets in advance a selection matrix S for force weighting in the form of a diagonal matrix based on the robot application (in this embodiment, robot-assisted grinding)FAnd a selection matrix S for the position weightsv(FIG. 3: S10). In this case, the operator is in S for the (exact positioning-relevant) cartesian degree of freedomvRespectively setting the row or the column corresponding to the degree of freedom to be 1, otherwise setting the row or the column corresponding to the degree of freedom to be 0; and at S in Cartesian degrees of freedom (force important or force intended to be applied from outside)FThe row or column corresponding to the degree of freedom is set to 1, and otherwise, 0 is set.
These two selection matrices S are knownv、SFNot necessarily complementary, so that the operator can be in one degree of freedom both SvIn the middle 1, again in SFAnd 1, a middle stage.
During operation, the robot controller 2 in step S20 sets q to q based on the posture q1,...,q6]TTwo matrices are determined at the contact points on the grinding belt, which are fixed to the robot, using the jacobian matrix j (q)
Here, J is used in a manner customary in the art-1(q) the inverse of the Jacobian matrix, denoted by JT(q) denotes the transpose thereof. Diagonal weight matrix Gv、GFThe translated and rotated variables are converted into a (pseudo) metric space. For this purpose, they may be, for example, 1 in the translational degree of freedom and the reciprocal of a suitable lever arm (for example between the wrist point and the force contact point or the tool tip) in the rotational degree of freedom. By dividing by GvOr GFWeighted inverse or transposed max J-1(q)·GVL or max JT(q)·GFThe value of the component with the largest value of | normalizes the matrix P, K to a value between 0 and ± 1, in particular between 0 and 1. In one variant, instead of the jacobian matrix, a jacobian matrix weighted, in particular multiplied, by the quality matrix m (q) is used:
J(q)·M(q)。
based on these two matrices P, K, the robot controller 2 determines according to:
wherein the row vector P of the matrix P1,...,p6Or K of the matrix K1,...,k6As a sensitivity factor of lambda1,...,λ6In one embodiment, they are between-1 and 1.
Then, in accordance with these sensitivity factors, one for each extreme value P for maximum force adjustmentF,1,,...,PF,6And an extreme value P for maximum position adjustmentV,1,,...,PV,6Setting a proportional (gain) factor P of the speed regulator1,...,P6For example, set or adjusted according to
And in step S30, each joint driver 51, 56 of the robot is based on the corresponding adjustment variable u1,...,u6Commands are issued, the regulating variables are composed of the proportional (gain) coefficients and the input variable yd,1,,...,yd,6Derived, in a simple example, from the following equation:
ui＝Pi(λi(q，SV，SF))·yd，i。
it can be seen that the matrix S is selected based on the pose q of the robot 1 and the cartesian degrees of freedom of the reference object fixed to the robotv、SFSet force and position weightsTo adjust the single joint adjusters 31, 36 which adjust the joints of the robot 1 in accordance with the commands of the joint drivers 51, 56.
While exemplary embodiments have been set forth in the foregoing description, it should be noted that a number of variations are possible. It should also be noted that the exemplary embodiments are only examples, and should not be construed as limiting the scope, applicability, or configuration in any way. Rather, the foregoing description will enable others skilled in the art to practice the teachings of at least one exemplary embodiment with varying degrees of particularity, including the description and the illustrations of the various features, particularly with respect to the function and arrangement of parts, as may be gleaned from the following claims and their equivalents, without departing from the scope of this disclosure.
List of reference numerals
1 robot
2 robot controller
3 workpiece
4 grinding belt
10 force adjusting part
20 position adjusting part
31, 7, 36 single joint adjuster
51, 56 joint driver.
Claims (9)
1. A method for adjusting a robot (1), wherein at least one joint adjuster (31-36) for adjusting a joint of the robot is adjusted (S20) based on a pose of the robot and a set force and position weight of at least one cartesian degree of freedom of a reference object fixed to the robot.
2. The method of claim 1, wherein the joint adjuster is adjusted during operation of the robot based on current and/or predicted pose of the robot and the set force and position weights.
3. Method according to any one of the preceding claims, characterized in that the joint adjuster commands the joint drive of the robot on the basis of a set cartesian target force and a set cartesian target position, in particular on the basis of a mixed force-position adjustment.
4. Method according to any of the preceding claims, characterized in that the force and position weights are set in advance by the operator and/or by means of at least one selection matrix based on the robot application.
5. Method according to any of the preceding claims, characterized in that the joint adjuster is adjusted on the basis of the set force and position weight of at least one cartesian degree of freedom in such a way that the joint adjuster counteracts the deviation of the reference object fixed to the robot from the set cartesian target position in this degree of freedom with a higher position weight than with a higher force weight.
6. Method according to any of the preceding claims, characterized in that at least one coefficient of the joint regulator is adjusted based on the pose of the robot and the set force and position weights, in particular between the set extreme value for maximum position weight and the set extreme value for maximum force weight.
7. Method according to any one of the preceding claims, characterized in that the joint adjuster is adjusted on the basis of an, in particular weighted, jacobian matrix, in particular on the basis of an, in particular normalized and/or weighted, inverse and/or transpose of this jacobian matrix, which is fixed to a reference object of the robot.
8. A system for adjusting a robot (1), the system being designed for carrying out the method according to any one of the preceding claims and/or having: means (2) for adjusting at least one joint adjuster (31-36) for adjusting a joint of the robot based on the pose of the robot and the set force and position weights of at least one Cartesian degree of freedom of a reference object fixed to the robot.
9. A computer program product having a program code stored on a medium readable by a computer for performing the method according to any of the preceding claims.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102018214257.2A DE102018214257B3 (en) | 2018-08-23 | 2018-08-23 | robot control |
| DE102018214257.2 | 2018-08-23 | ||
| PCT/EP2019/072325 WO2020038975A1 (en) | 2018-08-23 | 2019-08-21 | Robot control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112601640A true CN112601640A (en) | 2021-04-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980054794.0A Pending CN112601640A (en) | 2018-08-23 | 2019-08-21 | Robot adjustment |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP3840920A1 (en) |
| CN (1) | CN112601640A (en) |
| DE (1) | DE102018214257B3 (en) |
| WO (1) | WO2020038975A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102019219930B3 (en) * | 2019-12-18 | 2021-01-14 | Kuka Deutschland Gmbh | Method and system for controlling a robot |
| DE102021201024B3 (en) | 2021-02-04 | 2022-05-12 | Kuka Deutschland Gmbh | Method and system for operating a robot |
| DE102021108417B3 (en) | 2021-04-01 | 2022-03-24 | Franka Emika Gmbh | Identifying an external force winder on a robotic manipulator |
| CN113954070B (en) * | 2021-10-27 | 2023-05-02 | 苏州艾利特机器人有限公司 | Mechanical arm motion control method and device, storage medium and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS61151714A (en) * | 1984-12-25 | 1986-07-10 | Fujitsu Ltd | Position force control system |
| JPH01222315A (en) * | 1988-03-01 | 1989-09-05 | Hitachi Constr Mach Co Ltd | Controller for position and force of multidegree freedom work machine |
| EP2497610A1 (en) * | 2011-03-09 | 2012-09-12 | Syco Di Hedvig Haberl & C. S.A.S. | System for controlling a robotic device during walking, in particular for rehabilitation purposes, and corresponding robotic device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE68923889T2 (en) | 1988-03-01 | 1996-01-18 | Hitachi Construction Machinery | Position / force control device for machine tools with several degrees of freedom. |
| DE102007060680A1 (en) | 2007-12-17 | 2009-06-18 | Kuka Roboter Gmbh | Method and device for controlling a manipulator |
| DE102009018403A1 (en) | 2009-04-22 | 2010-10-28 | Kuka Roboter Gmbh | Method for controlling a welding robot, for welding with a welding tong and a force detecting device for detecting reaction forces on the welding tong, comprises determining a sum of reaction forces on the welding tong |
| DE102010012598A1 (en) | 2010-02-26 | 2011-09-01 | Kuka Laboratories Gmbh | Process module library and programming environment for programming a manipulator process |
| DE102012014936A1 (en) | 2012-07-27 | 2014-01-30 | Kuka Roboter Gmbh | Charging system and method for electrically charging a motor vehicle |
| DE102015102642B4 (en) | 2015-02-24 | 2017-07-27 | Kastanienbaum GmbH | Device and method for controlling and regulating a robot manipulator |
-
2018
- 2018-08-23 DE DE102018214257.2A patent/DE102018214257B3/en active Active
-
2019
- 2019-08-21 EP EP19759524.2A patent/EP3840920A1/en not_active Withdrawn
- 2019-08-21 CN CN201980054794.0A patent/CN112601640A/en active Pending
- 2019-08-21 WO PCT/EP2019/072325 patent/WO2020038975A1/en unknown
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61151714A (en) * | 1984-12-25 | 1986-07-10 | Fujitsu Ltd | Position force control system |
| JPH01222315A (en) * | 1988-03-01 | 1989-09-05 | Hitachi Constr Mach Co Ltd | Controller for position and force of multidegree freedom work machine |
| EP2497610A1 (en) * | 2011-03-09 | 2012-09-12 | Syco Di Hedvig Haberl & C. S.A.S. | System for controlling a robotic device during walking, in particular for rehabilitation purposes, and corresponding robotic device |
Non-Patent Citations (1)
| Title |
|---|
| ROBERT J. ANDERSON 等: "Hybrid Impedance Control of Robotic Manipulators", 《IEEE JOURNAL OF ROBOTICS AND AUTOMATION》, vol. 4, no. 5, pages 549 - 556 * |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102018214257B3 (en) | 2019-08-01 |
| WO2020038975A1 (en) | 2020-02-27 |
| EP3840920A1 (en) | 2021-06-30 |
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