发明申请
- 专利标题: Method And Device For Controlling A Manipulator
- 专利标题(中): 用于控制机械手的方法和装置
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申请号: US14976894申请日: 2015-12-21
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公开(公告)号: US20160107315A1公开(公告)日: 2016-04-21
- 发明人: Simon Klumpp , Gunter Schreiber
- 申请人: KUKA Roboter GmbH
- 优先权: DEDE102009058607.5 20091217
- 主分类号: B25J9/16
- IPC分类号: B25J9/16 ; G01L5/22 ; B25J15/00
摘要:
A method for controlling a manipulator includes determining by a control device one or more contact force values between the manipulator and a first workpiece. Each of the contact force values is based on an actual driving force of the manipulator and a drive force according to a dynamic model of the manipulator. The method also includes at least one of a) measuring in multiple stages an orientation and location of the first workpiece based on at least one of the one or more determined contact force values or b) joining a second workpiece and the first workpiece under a compliant regulation, where a joining state of the first and second workpieces is monitored based on at least one of an end pose of the manipulator obtained under the compliant regulation, a speed of a temporal change of the manipulator, or at least one of the one or more determined contact force values.
公开/授权文献
- US10076841B2 Method and device for controlling a manipulator 公开/授权日:2018-09-18