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公开(公告)号：US11420333B2
公开(公告)日：2022-08-23
申请号：US16607284
申请日：2018-04-18
申请人： Franka Emika GmbH
发明人： Sven Parusel , Simon Haddadin , Niklas Böhme , Tim Rokahr
摘要： A robot having a robot manipulator with an effector, wherein the robot manipulator is designed and constructed for picking up, handling, and releasing an object and is controlled by a control unit, the robot including a first sensor means designed and constructed to determine a persisting adherence of the object to an effector after a release of the object by the effector, and where such an adherence persists, to generate a signal S, wherein when a signal S is present, the control unit is designed and constructed to control the robot manipulator in such a manner that it executes a predefined movement B in which the effector with the persistently adhering object is passed by a wiping object in such a manner that the adhering object is wiped off the effector on a surface or an edge of the wiping object.
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公开(公告)号：US20200039069A1
公开(公告)日：2020-02-06
申请号：US16606831
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： The invention relates to a device and method for electrical testing of an electrical component, the component including at least one electrical contact point. The device includes: an interface for providing the electrical component; a first robot manipulator having an effector, which is configured and constructed for picking up, handling and releasing the electrical component; a mechanical receiving interface into which the electrical component is insertable; a contacting device having at least one electrical counter contact, the contacting device being positioned in a first state in such a manner that space is available for the first robot manipulator to be able to insert/remove the electrical component into/from the receiving interface, and the contacting device being positioned in a second condition in such a manner that the at least one counter contact is connected to the at least one contact point of the electrical component which has been inserted into the receiving interface; an analysis unit connected to the at least one counter contact, the analysis unit being configured and constructed to perform electrical testing of the electrical component using the electrical connection of the at least one counter contact and the at least one contact point in the second state and to provide and/or output a test result; and a control unit for automated control of the first robot manipulator and the contacting device.
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公开(公告)号：US11845185B2
公开(公告)日：2023-12-19
申请号：US16606831
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
CPC分类号： B25J9/1633 , B25J9/1679 , G05B2219/39129 , G05B2219/40082 , G05B2219/45089
摘要： A device and method for electrical testing of a component, the component including a contact point, wherein the device includes: an interface to provide the component; a robot manipulator having an effector configured to pick up, handle, and release the component; a receiving interface into which the component is insertable; a contacting device having a counter contact, the contacting device positioned in a first state so that the robot manipulator is able to insert/remove the component into/from the receiving interface, and positioned in a second state so that the counter contact is connected to the contact point of the component inserted into the receiving interface; an analysis unit connected to the counter contact and configured to perform electrical testing of the component using connection of the counter contact and the contact point in the second state; and a control unit to control the robot manipulator and the contacting 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：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：US20220362943A1
公开(公告)日：2022-11-17
申请号：US17620236
申请日：2020-06-26
申请人： FRANKA EMIKA GMBH
发明人： Andreas Spenninger , Saskia Golz , Sven Parusel
摘要： A system for performing an input on a robotic manipulator, wherein the system includes: a robotic manipulator having a plurality of limbs connected to one another by articulations and having actuators; a sensor unit configured to record an input variable, applied by a user by manually guiding the robotic manipulator, on the robotic manipulator, wherein the input variable is a kinematic variable or a force and/or a moment, and wherein the sensor unit is configured to transmit the input variable; and a computing unit connected to the robotic manipulator and to the sensor unit, the computing unit configured to transform the input variable received from the sensor unit via a predefined input variable mapping, wherein the input variable mapping defines a mathematical mapping of the input variable onto a coordinate of a graphical user interface or onto a setting of a virtual control element.
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公开(公告)号：US20220355489A1
公开(公告)日：2022-11-10
申请号：US17620788
申请日：2020-06-26
申请人： FRANKA EMIKA GMBH
发明人： Andreas Spenninger , Saskia Golz , Sven Parusel
IPC分类号： B25J13/02
摘要： A method of specifying an input value on a robotic manipulator, wherein the method includes: selecting a particular predefined input device to be emulated, wherein the input device to be emulated is assigned at least one degree of freedom of the robotic manipulator and local limits in the at least one degree of freedom, and a transfer function of a coordinate of the robotic manipulator in the at least one degree of freedom is assigned onto the input value; actuating the robotic manipulator such that at least one part of the robotic manipulator is manually movable in the at least one degree of freedom and within the local limits; recording a respective coordinate in the at least one degree of freedom during or after completion of an input on the robotic manipulator via a sensor unit; and applying the transfer function to assign the respective coordinate to the input value.
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