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Method and device for controlling mechanical arm, computer system, storage medium and robot

A technology of a mechanical arm, a robot, in the field of computer programs

Active Publication Date: 2019-12-20
KASTANIENBAUM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, robot-specific dynamic limits are provided that limit the values ​​of the control and / or manipulated variables of the control

Method used

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  • Method and device for controlling mechanical arm, computer system, storage medium and robot
  • Method and device for controlling mechanical arm, computer system, storage medium and robot
  • Method and device for controlling mechanical arm, computer system, storage medium and robot

Examples

Experimental program
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Embodiment Construction

[0049] figure 1A typical force-time curve is shown in a collision of a robot arm with an object, i.e. the case where the object cannot move away after a collision with the robot arm and is thus spatially fixed and thus squeezed .

[0050] exist figure 1 In , the x-axis represents time t, and the y-axis represents the value of the external force acting on the robot arm detected by the sensor: From the plot shown, it can be seen that at time t 0 Initially, the sensor detects an external force, i.e., at time t 0 , the robotic arm collides with an object (eg, with a human arm). For example, when at time t after 5ms 1 After reaching the first maximum value M1, the value of the force detected by the sensor decreases again until at time t 2 reached the first minimum. The force-time curves shown are not true to scale and represent only qualitative force curves.

[0051] Since the arm is spatially fixed (e.g., the arm is between the robot arm and the wall), the arm is squeezed...

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Abstract

A method and device for controlling a mechanical arm, a computer system, a storage medium and a robot. The present invention relates to an apparatus and method for open / closed loop control of a robotic manipulator (202) comprising a sensor (203) detecting interaction with the environment. The method according to the invention is characterized in that the sensor (203) detects a force-time curve of an external force acting on the robotic arm (202). If the value of the detected force is greater than the defined threshold G1: activate a safety mode of the robot manipulator (202), which controls the speed of movement and / or the direction of movement according to the detected force wherein, prior to the activation of the safety mode , open-loop / closed-loop control the moving speed and / or moving direction of the robotic arm (202) according to predetermined medical injury parameters

Description

technical field [0001] The present invention relates to methods and apparatus for open / closed loop control of a robotic manipulator including sensors to detect mechanical interactions with the environment. The invention also relates to a robot having such a device, and to a computer system, a digital storage medium, a computer program product and a computer program. Background technique [0002] Methods and devices for open-loop / closed-loop control of robotic manipulators are known. Thus, for example from DE 10 2010 048 369 A1, a method and a device are known for the safe open-loop control of at least one robot manipulator, in which at least one safety function is monitored. The safety function according to DE 102010048369 A1 preferably represents exactly the fundamental physical variable or function, for example the state or output of a switch, sensor or computing unit. The basic physical variable or function here can also be multidimensional and it can accordingly also b...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1676G05B2219/40198G05B2219/40202B25J19/02G05B2219/40201B25J13/085B25J19/063
Inventor S·哈达丁
Owner KASTANIENBAUM