发明申请
US20070120512A1 Method for controlling a robot arm, and robot for implementing the method
有权
用于控制机器人手臂的方法和用于实现该方法的机器人
- 专利标题： Method for controlling a robot arm, and robot for implementing the method
- 专利标题（中）： 用于控制机器人手臂的方法和用于实现该方法的机器人
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申请号： US11600959申请日： 2006-11-15
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公开(公告)号： US20070120512A1公开(公告)日： 2007-05-31
- 发明人: Alin Albu-Schaffer , Christian Ott , Ulrich Hagn , Tobias Ortmaier
- 申请人： Alin Albu-Schaffer , Christian Ott , Ulrich Hagn , Tobias Ortmaier
- 优先权： DE102005054575 20051116
- 主分类号： G05B19/04
- IPC分类号： G05B19/04
摘要：
In a method for controlling a robot arm, which is particularly suitable for use in medical applications, a robot arm (10) with a redundant number of joints is used. A torque acing in at least one joint (12a, 12b) is sensed. By means of a control device, the torque acting in this joint (12a, 12b) is controlled to become substantially 0.
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