ROBOT

Abstract

The invention relates to a robot having: a moving manipulator driven by means of actuators, a first unit for determining external forces and/or external torques acting upon the manipulator, and a second unit for controlling or regulating the actuators as a function of the determined external forces and/or external torques acting upon the manipulator, wherein the second unit is designed to control/regulate the actuators for a predefined sub-space T1 of a working space AR of the manipulator such that the manipulator recedes flexibly into the sub-space T1 upon the application of a determined external force and/or of a determined external torque onto the manipulator along a projection {right arrow over (P)}.sub.T1 of the force and/or of the torque, wherein the following applies: T1.Math.AR and T1AR, and the working space AR specifies all permitted translations and/or rotations of the manipulator, and to determine, for a space TK1 complementary to the sub-space T1, a projection {right arrow over (P)}.sub.TK1 of the determined external force and/or of the determined external torque into the complementary space TK1, wherein the following applies: T1TK1={0}, T1.Math.AR, and TK1.Math.AR, to classify the projection {right arrow over (P)}.sub.TK1 into one of several predefined classes with respect to amount and/or direction and/or time curve, wherein at least one event-discrete and/or continuous setpoint control command and/or one setpoint control rule is stored for each predefined class, and to control/regulate the actuators as a function of the classification of the projection {right arrow over (P)}.sub.TK1 based on the respective setpoint control command and/or setpoint control rule.

Claims

1. A robot comprising: a moving manipulator driven by actuators; a first unit to determine external forces and/or external torques acting upon the manipulator; and a second unit to control or regulate the actuators as a function of the determined external forces and/or external torques acting upon the manipulator, wherein the second unit is configured to: control or regulate the actuators for a predefined sub-space T1 of a working space AR of the manipulator such that the manipulator recedes flexibly into the sub-space T1 upon application of a determined external force and/or of a determined external torque upon the manipulator along a projection {right arrow over (P)}.sub.T1 of force and/or of torque, wherein the following applies: T1.Math.AR and T1AR, and the working space AR specifies all permitted translations and/or rotations of the manipulator; and determine, for a space TK1 complementary to the sub-space T1, a projection {right arrow over (P)}.sub.TK1 of the determined external force and/or of the determined external torque into the complementary space TK1, wherein the following applies: T1TK1={0}, T1.Math.AR, and TK1.Math.AR, classify the projection {right arrow over (P)}.sub.TK1 into one of several predefined classes with respect to amount and/or direction and/or time curve, store at least one event-discrete and/or continuous setpoint control command and/or one setpoint control rule for each predefined class, and control or regulate the actuators as a function of the classification of the projection {right arrow over (P)}.sub.TK1 based on the respective setpoint control command and/or setpoint control rule.

2. The robot according to claim 1, wherein the first unit comprises sensors and/or monitors and/or estimators to determine external forces and/or torques acting upon the manipulator.

3. The robot according to claim 1, wherein the second unit controls or regulates the actuators such that a point of application of the force and/or the torque on the manipulator recedes flexibly along the projection {right arrow over (P)}.sub.T1.

4. The robot according to claim 1, wherein the second unit controls or regulates the actuators such that the receding along the projection {right arrow over (P)}.sub.T1 only takes place when the amount |{right arrow over (P)}.sub.T1| of {right arrow over (P)}.sub.T1 is greater than a predefined limit value G1.

5. The robot according to claim 1, wherein the second unit controls or regulates the actuators such that the receding along the projection {right arrow over (P)}.sub.T1 takes place in an impedance-controlled manner.

6. A method for operating a robot, the robot comprising a moving manipulator driven by actuators, and a first unit to determine external forces and/or external torques acting upon the manipulator, wherein the method comprises controlling and regulating the actuators as a function of the determined external forces and/or external torques acting upon the manipulator, wherein: the actuators are controlled or regulated for a predefined sub-space T1 of a working space AR of the manipulator such that the manipulator recedes flexibly into the sub-space T1 upon application of a determined external force and/or of a determined external torque onto the manipulator along a projection {right arrow over (P)}.sub.T1 of force and/or of torque, wherein the following applies: T1.Math.AR and T1AR, and the working space AR specifies all permitted translations and/or rotations of the manipulator; and for a space TK1 complementary to the sub-space T1, a projection {right arrow over (P)}.sub.TK1 of the determined external force and/or of the determined external torque into the complementary space TK1 is determined, wherein the following applies: T1TK1={0}, T1.Math.AR, and TK1.Math.AR, the projection {right arrow over (K)}.sub.TK1 is classified into one of several predefined classes with respect to amount and/or direction and/or time curve, wherein at least one event-discrete and/or continuous setpoint control command and/or one setpoint control rule is stored for each predefined class, and the actuators are controlled or regulated as a function of the classification of the projection {right arrow over (K)}.sub.TK1 based on the respective setpoint control command and/or setpoint control rule.

7. The method according to claim 6, wherein the actuators are controlled or regulated such that a point of application of the force and/or the torque on the manipulator recedes flexibly along the projection {right arrow over (P)}.sub.T1.

8. The method according to claim 6, wherein the external forces acting upon the manipulator are determined by sensors and/or monitors and/or estimators.

9. The method according to claim 6, wherein the actuators are controlled or regulated such that the receding along the projection {right arrow over (P)}.sub.T1 only takes place when the amount |{right arrow over (P)}.sub.T1| of {right arrow over (P)}.sub.T1 is greater than a predefined limit value G1.

10. The method according to claim 6, wherein the actuators are controlled or regulated such that the receding along the projection {right arrow over (P)}.sub.T1 takes place in an impedance-controlled manner.

11. A system to operate a robot, the robot comprising a moving manipulator driven by actuators, and a first unit to determine external forces and/or external torques acting upon the manipulator, the system comprising: a data processing device; and a memory storing instructions that, when executed by the data processing device, cause the data processing device to perform operations comprising: controlling and regulating the actuators as a function of the determined external forces and/or external torques acting upon the manipulator, wherein: the actuators are controlled or regulated for a predefined sub-space T1 of a working space AR of the manipulator such that the manipulator recedes flexibly into the sub-space T1 upon application of a determined external force and/or of a determined external torque onto the manipulator along a projection {right arrow over (P)}.sub.T1 of force and/or of torque, wherein the following applies: T1.Math.AR and T1AR, and the working space AR specifies all permitted translations and/or rotations of the manipulator; and for a space TK1 complementary to the sub-space T1, a projection {right arrow over (P)}.sub.TK1 of the determined external force and/or of the determined external torque into the complementary space TK1 is determined, wherein the following applies: T1TK1={0}, T1.Math.AR, and TK1.Math.AR, the projection {right arrow over (K)}.sub.TK1 is classified into one of several predefined classes with respect to amount and/or direction and/or time curve, wherein at least one event-discrete and/or continuous setpoint control command and/or one setpoint control rule is stored for each predefined class, and the actuators are controlled or regulated as a function of the classification of the projection {right arrow over (K)}.sub.TK1 based on the respective setpoint control command and/or setpoint control rule.

12.-14. (canceled)

15. The system according to claim 11, wherein the actuators are controlled or regulated such that a point of application of the force and/or the torque on the manipulator recedes flexibly along the projection {right arrow over (P)}.sub.T1.

16. The system according to claim 11, wherein the robot comprises sensors and/or monitors and/or estimators to determine external forces and/or torques acting upon the manipulator.

17. The system according to claim 11, wherein the actuators are controlled or regulated such that the receding along the projection {right arrow over (P)}.sub.T1 only takes place when the amount |{right arrow over (P)}.sub.T1| of {right arrow over (P)}.sub.T1 is greater than a predefined limit value G1.

18. The system according to claim 11, wherein the actuators are controlled or regulated such that the receding along the projection {right arrow over (P)}.sub.T1 takes place in an impedance-controlled manner.

19. A non-transitory storage medium storing instructions to operate a robot, the robot comprising a moving manipulator driven by actuators, and a first unit to determine external forces and/or external torques acting upon the manipulator, the instructions when executed by a data processing device cause the data processing device to perform operations comprising: controlling and regulating the actuators as a function of the determined external forces and/or external torques acting upon the manipulator, wherein: the actuators are controlled or regulated for a predefined sub-space T1 of a working space AR of the manipulator such that the manipulator recedes flexibly into the sub-space T1 upon application of a determined external force and/or of a determined external torque onto the manipulator along a projection {right arrow over (P)}.sub.T1 of force and/or of torque, wherein the following applies: T1.Math.AR and T1AR, and the working space AR specifies all permitted translations and/or rotations of the manipulator; and for a space TK1 complementary to the sub-space T1, a projection {right arrow over (P)}.sub.TK1 of the determined external force and/or of the determined external torque into the complementary space TK1 is determined, wherein the following applies: T1TK1={0}, T1.Math.AR, and TK1.Math.AR, the projection {right arrow over (K)}.sub.TK1 is classified into one of several predefined classes with respect to amount and/or direction and/or time curve, wherein at least one event-discrete and/or continuous setpoint control command and/or one setpoint control rule is stored for each predefined class, and the actuators are controlled or regulated as a function of the classification of the projection {right arrow over (K)}.sub.TK1 based on the respective setpoint control command and/or setpoint control rule.

20. The non-transitory storage medium according to claim 19, wherein the actuators are controlled or regulated such that a point of application of the force and/or the torque on the manipulator recedes flexibly along the projection {right arrow over (P)}.sub.T1.

21. The non-transitory storage according to claim 19, wherein the robot comprises sensors and/or monitors and/or estimators to determine external forces and/or torques acting upon the manipulator.

22. The non-transitory storage according to claim 19, wherein the actuators are controlled or regulated such that the receding along the projection {right arrow over (P)}.sub.T1 only takes place when the amount |{right arrow over (P)}.sub.T1| of {right arrow over (P)}.sub.T1 is greater than a predefined limit value G1.

23. The non-transitory storage according to claim 19, wherein the actuators are controlled or regulated such that the receding along the projection {right arrow over (P)}.sub.T1 takes place in an impedance-controlled manner.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In the drawings:

[0035] FIG. 1 is a schematic configuration of a robot according to the invention.

DETAILED DESCRIPTION

[0036] FIG. 1 shows a schematic configuration of a robot according to the invention. The robot has: a moving manipulator 102 driven by actuators 101a-101c, a first unit 103 for determining external forces and/or external torques acting upon the manipulator 102, and a second unit 104 for controlling or regulating the actuators 101a-101c as a function of the determined external forces and/or external torques acting upon the manipulator 102.

[0037] The second unit 104 is designed and configured to control/regulate the actuators 101a-101c for a predefined sub-space T1 of a working space AR of the manipulator 102 such that the manipulator 102 recedes flexibly and translationally into the sub-space T1 upon the application of a determined external force and/or of a determined external torque onto the manipulator 102 along a projection {right arrow over (P)}.sub.T1 of force and/or of torque, wherein the following applies: T1.Math.AR and T1AR, and the working space AR specifies all permitted translations and/or rotations of the manipulator 102, and to determine, for a space TK1 complementary to the sub-space T1, a projection {right arrow over (P)}.sub.TK1 of the determined external force and/or of the determined external torque into the complementary space TK1, wherein the following applies: T1TK1={0}, T1.Math.AR, and TK1.Math.AR, to classify the projection {right arrow over (P)}.sub.TK1 into one of several predefined classes with respect to amount and/or direction and/or time curve, wherein at least one event-discrete and/or continuous setpoint control command and/or one setpoint control rule is stored for each predefined class, and to control/regulate the actuators 101a-101c as a function of the classification of the projection {right arrow over (P)}.sub.TK1 based on the respective setpoint control command and/or setpoint control rule.

[0038] Although the invention has been illustrated and explained in more detail by preferred example embodiments, the invention is not limited by the disclosed examples and other variations may be derived by one of ordinary skill in the art without extending beyond the protective scope of the invention. It is thus clear that a plurality of variation options exists.

[0039] It is likewise clear that example embodiments actually only represent examples, which are not to be interpreted in any manner as a limitation, for example, of the protective scope, the use options, or the configuration of the invention. Rather, the previous description and the description of figures should make one of ordinary skill in the art capable of specifically implementing the example embodiments, wherein one of ordinary skill in the art with knowledge of the disclosed concept of the invention can undertake various changes, for example with respect to the function or the arrangement of individual elements listed in an example embodiment, without going beyond the scope of protection, which is defined by the claims and the legal equivalents thereof such as, for example, more extensive explanations in the description.

LIST OF REFERENCE NUMERALS

[0040] 101a-101c Actuators [0041] 102 Manipulator [0042] 103 First unit [0043] 104 Second unit