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

IPC分类号： B25J9/16 ,  B25J13/08 ,  B25J19/02 ,  G05B19/02

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.