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公开(公告)号：US20230067761A1
公开(公告)日：2023-03-02
申请号：US17794433
申请日：2021-02-10
申请人： Franka Emika GmbH
发明人： Andreas Spenninger
摘要： A method of controlling a robot manipulator, the method including: providing a database containing body zones of a person, wherein each of the body zones is assigned a respective maximum permissible value of contact pressure value, determining a current or a future contact event of the robot manipulator involving the person, and determining a body zone of the person that is contacted, determining a reference position fixed relative to a body of the person, wherein the reference position indicates beginning of a spatial progression of depression of tissue of the person during the contact event with the person, and controlling the robot manipulator in an impedance-regulated manner, such that the reference position serves as a zero position of an artificial spring component of impedance regulation of the robot manipulator and a maximum permissible contact pressure is not exceeded as a limit value.
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公开(公告)号：US20230028437A1
公开(公告)日：2023-01-26
申请号：US17787914
申请日：2020-12-22
申请人： FRANKA EMIKA GmbH
摘要： A gripping device for a robot for gripping objects, including at least two gripping units each having a gripping finger and being transferable by a controlled movement between a release position and a gripping position gripping an object, the gripping units each having gripper elements which, in the gripping position, can be brought into contact with the object to be gripped, in which the gripper elements are rotatably mounted on the gripping fingers of the gripping device.
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公开(公告)号：US11524405B2
公开(公告)日：2022-12-13
申请号：US16606998
申请日：2018-04-18
申请人： Franka Emika GmbH
发明人： Tobias Ende , Michael Haas , Saskia Golz , Sven Parusel , Simon Haddadin
IPC分类号： B25J9/16
摘要： A screwing device including: a container for screws; a manipulator having an effector to pick up a screw; an isolating unit connected to the container to provide the screw from the container at an interface such that a head of the screw is accessible to the effector; and a control unit to control the manipulator in executing a control program to perform operations including: guiding the effector along a trajectory having an orientation to the screw head at the interface, wherein the orientation is defined for locations along the trajectory; and executing force-regulated, impedance-regulated, and/or admittance-regulated periodic and closed tilting movements of the effector in relation to its orientation until a condition for a torque, a force, or a time for carrying out the tilting movements is reached or exceeded, and/or a force/torque and/or a position/speed signature at the effector is reached or exceeded, indicating successful pick-up of the screw.
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公开(公告)号：US20220184812A1
公开(公告)日：2022-06-16
申请号：US17439936
申请日：2020-03-19
申请人： FRANKA EMIKA GMBH
发明人： Andreas Spenninger , Tim Rokahr
摘要： A robot gripper includes: a drive unit to drive a powertrain with active elements, wherein each element has a working region arranged in a body-fixed manner relative to the robot gripper, a respective element being moveable in and capable of reaching the working region; a control unit to control the drive unit; and a sensor system connected to the control unit to ascertain forces/moments applied externally to individual elements, the control unit configured such that collision monitoring is capable of being carried out for the elements, and when a collision is detected for an element, the drive unit is actuated according to a specified operation, including: providing a defined region within the working region for the elements, and collision monitoring for the elements only when the elements are located outside the assigned region, and deactivating collision monitoring when the elements are located at least partly within the assigned region.
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公开(公告)号：US11247339B2
公开(公告)日：2022-02-15
申请号：US16606989
申请日：2018-04-18
申请人： Franka Emika GmbH
发明人： Tobias Ende , Michael Haas , Saskia Golz , Sven Parusel , Simon Haddadin
摘要： Device for plugging a plug-in region of an expansion board into a plug-in coupling including: a first interface providing the coupling; a second interface providing the board; a robot manipulator having an effector; and a controller controlling the robot manipulator to plug the region into the coupling, the controller configured to execute a program for the robot manipulator to perform operations including: picking up the board at the second interface using the effector; guiding the board along a trajectory and target orientation of the region to the coupling; carrying out tilting motions of the region until reaching or exceeding a limit value condition G1 for a torque acting on the effector and/or a limit value condition G2 of a force acting on the effector, and/or reaching or exceeding a force/torque signature and/or a position/velocity/acceleration signature at the effector, indicating completion of plugging the region into the coupling within predefined tolerances.
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公开(公告)号：US20220032464A1
公开(公告)日：2022-02-03
申请号：US17413819
申请日：2019-12-19
申请人： FRANKA EMIKA GMBH
IPC分类号： B25J9/16
摘要： A device and method for monitoring a motion of a robot manipulator, including operations of: defining a forbidden position for the robot manipulator, defining a curve running along the robot manipulator with a one-dimensional running coordinate s, wherein at least a subset of all locations of the curve is moved together with a current pose of the robot manipulator, and determining a distance d between a location of a current curve and/or a predicted curve and the forbidden position.
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公开(公告)号：US11097423B2
公开(公告)日：2021-08-24
申请号：US16095185
申请日：2017-04-24
申请人： Franka Emika GmbH
发明人： Sami Haddadin
IPC分类号： B25J9/16
摘要： The invention relates to a method of controlling a movable robot manipulator for screwing in a screw at least already plugged into a thread, wherein the screw has a screw head with a tool engagement interface, the robot manipulator has at its distal end a tool designed to engage the tool engagement interface, the screw has a screw central axis, and the tool has a tool central axis about which the tool of the robot manipulator is rotatable. The proposed method includes the following steps of: defining a position of the tool engagement interface of the screw at least plugged into the thread, positioning the tool over the tool engagement interface and orienting the tool central axis with a maximum deviation of 8° concentrically with the screw central axis, with force-regulated and/or impedance-regulated closed tilting movement of the tool central axis, moving the tool along the tool central axis into the tool engagement interface until there is a connection between the tool and the tool engagement interface, screwing in the screw in a first direction of rotation of the tool until a defined limit value G1 of a torque/force acting on the tool has been reached or exceeded, once the limit value G1 has been reached or exceeded, turning back the tool counter to the first direction of rotation through a defined angle in the range of [0.01° to 10°], and removing the tool from the tool engagement interface along the tool central axis.
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公开(公告)号：US20200061835A1
公开(公告)日：2020-02-27
申请号：US16611643
申请日：2018-05-29
申请人： FRANKA EMIKA GMBH
发明人： Sami Haddadin , Jonathan Vorndamme
摘要： The invention relates to a method of collision handling for a robot with a kinematic chain structure comprising at least one kinematic chain, wherein the kinematic chain structure includes: a base, links, joints connecting the links, actuators and at least one end-effector, a sensor Sdistal.i in the most distal link of at least one of the kinematic chains for measuring/estimating force/torque, and sensors Si for measuring/estimating proprioceptive data, wherein the sensors Si are arbitrarily positioned along the kinematic chain structure, the method including: providing a model describing the dynamics of the robot; measuring and/or estimating with sensor Sdistal.i force/torque Fext,S.distal.i in the most distal link of at least one of the kinematic chains; measuring and/or estimating with the sensors Si proprioceptive data: base and robot generalized coordinates q(t) and their time derivative {dot over (q)}(t), generalized joint motor forces τm, external forces FS, a base orientation φB(t) and a base velocity {dot over (x)}(t)B; generating an estimate {circumflex over (τ)}∈ of the generalized external forces τext with a momentum observer based on at least one of the proprioceptive data and the model; generating an estimate {umlaut over ({circumflex over (q)})}(t) of a second derivative of base and robot generalized coordinates {umlaut over (q)}(t), based on {circumflex over (τ)}∈ and τm; estimating a Cartesian acceleration {umlaut over ({circumflex over (x)})}D of point D on the kinematic chain structure based on {umlaut over ({circumflex over (q)})}(t); compensating the external forces FD for rigid body dynamics effects based on {umlaut over ({circumflex over (x)})}D and for gravity effects to obtain an estimated external wrench {circumflex over (F)}ext,S.i; compensating {circumflex over (τ)}∈ for the Jacobian JS.distal.iT transformed Fext,S.distal.i to obtain an estimation {circumflex over (τ)}ext,col of generalized joint forces originating from unexpected collisions; detecting a collision based on given thresholds τthresh and FS.i,thresh if {circumflex over (τ)}ext,col>τthresh and/or if {circumflex over (F)}ext,S.i>FS.i,thresh.
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公开(公告)号：US20200001456A1
公开(公告)日：2020-01-02
申请号：US16480221
申请日：2018-02-07
申请人： FRANKA EMIKA GMBH
发明人： Saskia GOLZ
摘要： 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)}T1 of the force and/or of the torque, wherein the following applies: T1⊆AR and T1≠AR, 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)}TK1 of the determined external force and/or of the determined external torque into the complementary space TK1, wherein the following applies: T1∩TK1={0}, T1⊆AR, and TK1⊆AR, to classify the projection {right arrow over (P)}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)}TK1 based on the respective setpoint control command and/or setpoint control rule.
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公开(公告)号：US20190126481A1
公开(公告)日：2019-05-02
申请号：US16094392
申请日：2017-04-25
申请人： Franka Emika GmbH
发明人： Sami Haddadin , Björn Pietsch
IPC分类号： B25J9/16 , B25J19/00 , B25J13/00 , G05B19/406
摘要： The invention relates to a robot having actuator-driven elements, which requires a desired operating voltage UB and/or a desired operating current IB in order to operate, comprising: a voltage and current source having an input interface, to which a primary voltage UP and a primary current IP are applied, wherein, during normal operation, the primary voltage UP is equal to a desired primary voltage UP,desired and the primary current IP is equal to a desired primary current IP,desired, and also having an output interface, to which an actual voltage Uactual and an actual current Iactual are supplied, wherein during normal operation: Uactual=UB and Iactual=IB, an energy store, which is integrated into the voltage and current source and which maintains the operating voltage UB and the operating current IB for a predefined period of time Δt following a failure or a drop in the primary voltage/primary current, a unit for monitoring the primary voltage UP applied to the input interface, wherein the unit is configured such that as soon as the applied primary voltage UP deviates by a predefined amount ΔU from the desired primary voltage UP,desired, a stop signal is generated, and a control unit, which is connected to the unit and which is designed for controlling the robot and its actuator-driven elements, wherein the control unit is configured to control the robot with its elements into a predefined safe state upon receipt of the stop signal.
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