WO2021165105A1 - Steuerung eines robotermanipulators bei kontakt mit einer person - Google Patents
Steuerung eines robotermanipulators bei kontakt mit einer person Download PDFInfo
- Publication number
- WO2021165105A1 WO2021165105A1 PCT/EP2021/053124 EP2021053124W WO2021165105A1 WO 2021165105 A1 WO2021165105 A1 WO 2021165105A1 EP 2021053124 W EP2021053124 W EP 2021053124W WO 2021165105 A1 WO2021165105 A1 WO 2021165105A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- person
- robot manipulator
- contact
- contact pressure
- determined
- Prior art date
Links
Classifications
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- 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
- G05B2219/39338—Impedance control, also mechanical
-
- 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
- G05B2219/39339—Admittance control, admittance is tip speed-force
-
- 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
- G05B2219/39342—Adaptive impedance control
-
- 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
- G05B2219/39343—Force based impedance control
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40198—Contact with human allowed if under pain tolerance limit
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40201—Detect contact, collision with human
Definitions
- the invention relates to a method for controlling a robot manipulator and a control unit for controlling a robot manipulator.
- the object of the invention is to improve the behavior of a robot manipulator in the event of a contact event between the robot manipulator and a person and, in particular, to make it safer.
- a first aspect of the invention relates to a method for controlling a robot manipulator, comprising the steps:
- the body zones include in particular zones on the surface of the person's body, such as the thighs, lower legs, hands, feet, stomach, chest, upper back, lower back, face and / or sections of the face such as the eyes, nose, etc.
- body zones that are detached from these body parts are preferably used.
- the body zones as they are stored in the database are preferably generally valid for people, so that they are not limited to a specific individual. In particular, however, when a certain group of people, such as children, come into contact with the robot manipulator, it is It is expedient to provide a special database in each case with body zones specifically defined for the group of people.
- Each of these body zones has an associated value according to the database, which indicates a maximum permissible contact pressure on the respective body zone.
- the contact pressure is defined in particular in the direction of a normal to the surface of the body zone.
- the contact pressure refers to the pressure that acts externally on the person's body.
- the terms contact pressure and a contact force are interchangeable, since a pressure is defined by a force per area.
- the term “contact pressure” is consistently replaced above and below by the term “contact force”.
- the database preferably has a respective value for a shear stress as a tangential component of a force and / or an acting moment acting on the respective body zone.
- the contact event is preferably determined by a prediction, in particular by means of a simulation.
- a prediction in particular by means of a simulation.
- a future pose of the robot manipulator or the person is used to predict the movement path of the robot manipulator .
- a predetermined target movement path of the robot manipulator and / or a speed and / or an acceleration of the robot manipulator is used to predict the movement path of the robot manipulator .
- the same is preferably done with the person.
- a planned path of the person cannot generally be assumed, since firstly the person's will is not necessarily known and, moreover, the person’s movements can often be involuntarily controlled, in particular by reflex. Instead, a current pose of the person and / or a movement of the person (in particular speed / acceleration) is recorded, in particular by a camera, and a possible future pose of the person is deduced from the current pose and / or the current movement of the person .
- a current contact event can also be detected via a common collision detection, for example via the determination of an external power winch based on the Joints can be done by torque sensors of the robot manipulators detected joint torque vector.
- such detection also provides information about which of the body zones defined in the database on the person is or will actually be affected by the contact event. Since each of the body zones is assigned its own individual maximum permissible value of contact pressure according to the information in the database, a maximum permissible contact pressure that may result from the contact event is also known, depending on the location of the contact event of the robot manipulator with the person's body.
- a reference position is defined which, in relation to the person, in particular to the surface of the person's body, is intended to be fixedly arranged on the person.
- This reference position fixed to the body therefore naturally corresponds to the location on the surface of the person at which the contact of the robot manipulator can be felt by the person.
- the person's tissue is impressed, which the person perceives as contact pressure.
- the person's tissue is naturally viscous attenuating and also at least partially elastic (and under certain circumstances at least temporarily plastic in parts, without this representing a permanent, irreversible deformation of the tissue causing injury).
- the robot manipulator is controlled in an impedance-controlled manner at least from the beginning of the local course of the indentation of the person's tissue during the contact event.
- the person's tissue has resilient elements and, on the other hand, the impedance control of the robot manipulator contains an artificial spring component, which, starting from the reference point, at least in the normal component builds up an increasing restoring force on the surface of the person's body and thus the kinetic energy at least degrades in the direction of this normal component.
- the impedance control is carried out in particular on the basis of the relative position between the reference position and a predefined location on the robot manipulator.
- the value of the length of this position vector determines in particular the Deflection, through which a deflection-dependent drag force is generated with the help of the artificial spring component.
- the impedance control is preferably carried out on the basis of a two-channel determined relative position starting from the current position of a location on the robot manipulator relative to the reference position on the person.
- the two-channel system is in particular obtained through a robot's own set of sensors, including, in particular, joint angle sensors, on the one hand, and an external sensor unit, preferably a camera unit. Two or more camera units can also be used.
- Such a two-channel arrangement leads in particular to the position information being obtained from at least two sources, which information is then checked for data consistency, in particular by a comparison unit. If there is an inconsistency between the two sources, at least one of the sensor units is faulty and the safe operation of the robot manipulator can no longer be guaranteed. In such a case, a warning is preferably output and / or the operation of the robot manipulator is stopped immediately.
- the reference position is preferably used in a radially symmetrical manner as a zero position for the impedance control, in particular for the artificial spring component of the impedance control.
- the impedance control treats every deflection from the zero position in the same way, regardless of the direction of the deflection.
- the impedance control is preferably carried out in a direction-dependent manner starting from the reference position as a zero position, in particular the artificial spring component of the impedance control.
- the artificial spring component of the impedance control is only normal for one direction, i. H.
- the nominal control is preferably used, which the robot manipulator applied before applying the impedance control until the reference position was reached.
- this can be an impedance control itself, on the other hand, a force control, a position control, an admittance control, or other control forms known in the prior art.
- the impedance control of the robot manipulator preferably also includes an artificial damping component which, by definition, naturally generates a speed-dependent drag force.
- the force (/ pressure) exerted on the person by the robot manipulator is limited so that the maximum permissible value of the contact pressure for the body zone affected by the contact event is not exceeded. This takes place in particular within the possibilities of the bandwidth of the actuators of the robot manipulator, which is typically sufficiently high to ensure such a reaction sufficiently quickly.
- the method also has the step: Determining an edge geometry of that location on the robot manipulator which comes into contact with the person, the maximum permissible contact pressure being determined or adapted as a function of the edge geometry determined.
- the database preferably has a set of values for each of the body zones, each of the elements from the set of values being assigned to a specific edge geometry or at least approximately to the edge geometry of that location on the robot manipulator that comes into contact with the person.
- each of the elements from the set of values being assigned to a specific edge geometry or at least approximately to the edge geometry of that location on the robot manipulator that comes into contact with the person.
- a fixed value is dependent on each body zone from the database adapted from the determined edge geometry. This is preferably done by multiplying by a factor that reflects the inverse degree of sharpness of the edge geometry, so that a sharper edge is associated with a higher real contact pressure compared to a constant maximum permissible contact pressure.
- the maximum permissible contact pressure is determined or reduced relative to the person depending on a speed of the location of the robot manipulator that comes into contact with the person.
- This embodiment advantageously takes into account the fact that rapid indenting movements of the tissue of a person are perceived as more unpleasant than slow ones. Therefore, analogously to the previous embodiment, instead of an edge geometry, the speed in the event of a contact event between the robot manipulator and the person is taken into account.
- there may be various entries in the database which, according to this embodiment, apply to a finite set of speeds or are approximated to them.
- the single database entry in each case is adapted accordingly, in particular by means of a factor or another function.
- the impedance-regulated actuation of the robot manipulator takes place in such a way that a predetermined braking distance is not exceeded in the course of the pressing in of the person's tissue.
- the braking distance is particularly dependent on the impulse transmission between the robot manipulator and the person's tissue and correlates with an indentation depth of the person's tissue by the robot manipulator.
- the limit value of the braking distance it is ensured that the person's tissue is not pressed in beyond the specified limit value. This is done in particular by a corresponding control of the actuators of the robot manipulator, so that the robot manipulator performs a retraction movement when the limit value is reached.
- the predetermined braking distance is determined by a prediction of the distance from the reference position at which the maximum permissible contact pressure is reached in the course of the pressing in of tissue from the person.
- the contact pressure actually exerted therefore advantageously corresponds to the maximum permissible contact pressure and at the same time correlates with the limit value in the braking distance, so that the behavior of the robot manipulator that appears as natural as possible for the person is used in the entire permissible range.
- the impedance-controlled actuation of the robot manipulator takes place by means of an impedance control with respect to a fixed-earth coordinate system, so that the relative position vector between the location on the robot manipulator that comes into contact with the person and the current reference position on the person is determined as a connection vector in the fixed-earth coordinate system will.
- the earth-fixed coordinate system is in particular a Cartesian coordinate system.
- the method also has the step:
- the degree of hardness determines the resistance to penetration by a body and is preferably given in Vickers units.
- the modulus of elasticity describes a stress constant that indicates under which stress which degree of elongation occurs in the material of the robot manipulator.
- this material property or material properties of the location of the robot manipulator, which is in contact with is advantageous either via a set of values from data in the database or by adapting a respective valid value from the database, in particular by multiplying by a factor or another function the person occurs, because these material property (s) have a significant influence on how the contact event is perceived subjectively by the person.
- the method also has the step:
- the temperature of the component at that location of the robot manipulator that comes into contact with the person also has a corresponding influence on the subjective perception of the contact event between the person and the robot manipulator. At extreme temperatures, the person perceives the contact event as rather unpleasant.
- different values can be found in the database for a respective body zone for different temperatures can be stored, or the individual value of the database for each body zone is adjusted accordingly.
- the impedance control has a non-linear artificial spring component, so that with increasing deflection, a counterforce that increases disproportionately with the deflection acts on the robot manipulator.
- human tissue in particular also has non-linear mechanical properties (blood is a non-Newtonian fluid and the resistance when pressing tissue suddenly increases when it hits tendons and / or bones and / or ligaments), this property becomes the Body of the person in particular also reflected by the impedance control. In this way, the behavior of the robot manipulator in the event of a contact event is advantageously perceived as significantly more pleasant by the person.
- Another aspect of the invention relates to a control unit for controlling a robot manipulator, having an interface to a database with body zones of a person, each of the body zones being assigned a respective maximum permissible value of contact pressure, and a computing unit, the computing unit being used to determine a current or future contact event of the robot manipulator with the person and determining the body zone of the person contacted, for determining a reference position fixed to the body relative to the person, the reference position indicating the beginning of the local course of the impression of tissue of the person during the contact event with the person, and for impedance-controlled actuation of the robot manipulator is designed so that the determined reference position serves as a zero setting for an artificial spring component for the impedance control of the robot manipulator and the maximum permissible contact pressure is not exceeded as a limit value.
- FIG. 1 shows a method for controlling a robot manipulator according to an exemplary embodiment of the invention
- FIG. 2 shows a control unit for carrying out the method according to FIG. 1.
- FIG. 1 shows a method for controlling a robot manipulator 1.
- the method is carried out on a control unit 3.
- the method steps shown below can therefore also be transferred to FIG. 2 and the reference symbols of FIG. 2 can be used.
- the procedure consists of the following steps:
- FIG. 2 shows a control unit 3 for controlling a robot manipulator 1, having an interface 5 to a database with body zones of a person, each of the body zones being assigned a respective highest permissible value of contact pressure, and a computing unit 7, the computing unit 7 for determining a current or future contact event of the robot manipulator 1 with the person and determining the body zone contacted by the person.
- the computing unit 7 determines a reference position that is fixed to the body relative to the person, the reference position indicating the beginning of the local course of the indentation of tissue from the person during the contact event with the person. This is done by simulating the future movement sequences by extrapolating the current movement sequences of both the person and the robot manipulator 1. Furthermore, the computing unit 7 controls the robot manipulator 1 in an impedance-controlled manner so that the determined reference position serves as a zero position for an artificial spring component for the impedance control of the robot manipulator 1 and the maximum permissible contact pressure is not exceeded as a limit value.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP21709341.8A EP4106958A1 (de) | 2020-02-19 | 2021-02-10 | Steuerung eines robotermanipulators bei kontakt mit einer person |
KR1020227031799A KR20220141853A (ko) | 2020-02-19 | 2021-02-10 | 사람과 접촉할 때의 로봇 조작기의 제어 |
JP2022549771A JP2023513956A (ja) | 2020-02-19 | 2021-02-10 | 人との接触時のロボットマニピュレータの制御 |
US17/794,433 US20230067761A1 (en) | 2020-02-19 | 2021-02-10 | Control of a Robot Manipulator upon Contact with a Person |
CN202180011727.8A CN115023321A (zh) | 2020-02-19 | 2021-02-10 | 对机器人机械手在与人接触时的控制 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020104364.3A DE102020104364B3 (de) | 2020-02-19 | 2020-02-19 | Steuerung eines Robotermanipulators bei Kontakt mit einer Person |
DE102020104364.3 | 2020-02-19 |
Publications (1)
Publication Number | Publication Date |
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WO2021165105A1 true WO2021165105A1 (de) | 2021-08-26 |
Family
ID=74853608
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2021/053124 WO2021165105A1 (de) | 2020-02-19 | 2021-02-10 | Steuerung eines robotermanipulators bei kontakt mit einer person |
Country Status (7)
Country | Link |
---|---|
US (1) | US20230067761A1 (de) |
EP (1) | EP4106958A1 (de) |
JP (1) | JP2023513956A (de) |
KR (1) | KR20220141853A (de) |
CN (1) | CN115023321A (de) |
DE (1) | DE102020104364B3 (de) |
WO (1) | WO2021165105A1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102021102509A1 (de) | 2021-02-03 | 2022-08-04 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren zur nachgiebigen Regelung eines Roboters |
DE102021208279B4 (de) | 2021-07-30 | 2023-03-16 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein | Integration einer Risikobeurteilung einer Kollision zwischen einem robotischen Gerät und einer menschlichen Bedienperson |
DE102021208576B3 (de) | 2021-08-06 | 2022-10-06 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein | Vorgeben einer zulässigen Maximalgeschwindigkeit eines robotischen Gerätes |
Citations (5)
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US5347459A (en) * | 1993-03-17 | 1994-09-13 | National Research Council Of Canada | Real time collision detection |
US20090171505A1 (en) * | 2006-07-04 | 2009-07-02 | Yasunao Okazaki | Device and method for controlling robot arm, robot, and robot arm control program |
US20140379131A1 (en) * | 2013-06-19 | 2014-12-25 | Gwangju Institute Of Science And Technology | Control Method and Device for Position-Based Impedance Controlled Industrial Robot |
US20170087722A1 (en) * | 2015-09-28 | 2017-03-30 | Per-Olof Aberg | Method and a Data Processing System for Simulating and Handling of Anti-Collision Management for an Area of a Production Plant |
US20180029228A1 (en) * | 2015-02-24 | 2018-02-01 | Kastanienbaum GmbH | Device and Method for Performing Open-Loop and Closed-Loop to Control of a Robot Manipulator |
Family Cites Families (9)
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JP2008073830A (ja) * | 2006-09-25 | 2008-04-03 | Fanuc Ltd | ロボット制御装置 |
JP2008188722A (ja) * | 2007-02-06 | 2008-08-21 | Fanuc Ltd | ロボット制御装置 |
DE102007060680A1 (de) * | 2007-12-17 | 2009-06-18 | Kuka Roboter Gmbh | Verfahren und Einrichtung zur Steuerung eines Manipulators |
JP5311294B2 (ja) * | 2010-04-28 | 2013-10-09 | 株式会社安川電機 | ロボットの接触位置検出装置 |
DE102011111758A1 (de) * | 2011-08-24 | 2013-02-28 | Dürr Systems GmbH | Steuerverfahren für einen Roboter |
DE102013212887B4 (de) * | 2012-10-08 | 2019-08-01 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren zum Steuern einer Robotereinrichtung,Robotereinrichtung, Computerprogrammprodukt und Regler |
DE102014114234B4 (de) * | 2014-09-30 | 2020-06-25 | Kastanienbaum GmbH | Verfahren und Vorrichtung zur Steuerung/Regelung eines Roboter-Manipulators |
JP5927284B1 (ja) * | 2014-12-22 | 2016-06-01 | ファナック株式会社 | 人との接触力を検出してロボットを停止させるロボット制御装置 |
DE102018112360B3 (de) * | 2018-05-23 | 2019-09-19 | Franka Emika Gmbh | Bereichsabhängige Kollisionsdetektion für einen Robotermanipulator |
-
2020
- 2020-02-19 DE DE102020104364.3A patent/DE102020104364B3/de active Active
-
2021
- 2021-02-10 CN CN202180011727.8A patent/CN115023321A/zh active Pending
- 2021-02-10 JP JP2022549771A patent/JP2023513956A/ja active Pending
- 2021-02-10 WO PCT/EP2021/053124 patent/WO2021165105A1/de unknown
- 2021-02-10 KR KR1020227031799A patent/KR20220141853A/ko unknown
- 2021-02-10 US US17/794,433 patent/US20230067761A1/en active Pending
- 2021-02-10 EP EP21709341.8A patent/EP4106958A1/de active Pending
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US5347459A (en) * | 1993-03-17 | 1994-09-13 | National Research Council Of Canada | Real time collision detection |
US20090171505A1 (en) * | 2006-07-04 | 2009-07-02 | Yasunao Okazaki | Device and method for controlling robot arm, robot, and robot arm control program |
US20140379131A1 (en) * | 2013-06-19 | 2014-12-25 | Gwangju Institute Of Science And Technology | Control Method and Device for Position-Based Impedance Controlled Industrial Robot |
US20180029228A1 (en) * | 2015-02-24 | 2018-02-01 | Kastanienbaum GmbH | Device and Method for Performing Open-Loop and Closed-Loop to Control of a Robot Manipulator |
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NAVARRO BENJAMIN ET AL: "An ISO10218-compliant adaptive damping controller for safe physical human-robot interaction", 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 16 May 2016 (2016-05-16), pages 3043 - 3048, XP032908491, DOI: 10.1109/ICRA.2016.7487468 * |
Also Published As
Publication number | Publication date |
---|---|
CN115023321A (zh) | 2022-09-06 |
US20230067761A1 (en) | 2023-03-02 |
JP2023513956A (ja) | 2023-04-04 |
EP4106958A1 (de) | 2022-12-28 |
KR20220141853A (ko) | 2022-10-20 |
DE102020104364B3 (de) | 2021-05-27 |
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