Apparatus and method for determining forces acting on a body in at least three spatial directions and method for controlling the movement of a body - Patents.com

Abstract

The invention relates to a device for determining forces (Fx, Fy, Fz, Mx, My, Mz) acting on a body (3), in particular a manipulator, in at least three spatial directions, comprising at least one sensor element (1, 2) for mounting on a surface (3.1) of the body (3), the at least one sensor element (1, 2) comprising at least three individual sensor elements (1.3), each individual sensor element (1.3) being configured to determine an individual force in one direction, or at least one sensor element (1, 2) being configured to determine an individual force in three spatial directions. and an evaluation / control unit (6) configured to detect individual forces determined by each individual sensor element (1.3) and to calculate forces (Fx, Fy, Fz, Mx, My, Mz) acting on the sensor elements (1, 2) in at least three spatial directions by projecting the individual forces onto virtual points (1.2, 2.2) of said sensor elements (1, 2). Furthermore, the invention relates to a method for determining forces acting on a body (3) in at least three spatial directions and a method for controlling the movement of a body (3).

Description

[Technical field]

[0001] The present invention relates to an apparatus and method for determining forces acting on a body in at least three spatial directions, and a method for controlling the movement of a body. [Background technology]

[0002] To program and manipulate a body, in particular a manipulator such as an industrial robot or a cobot, it is necessary to move this body manually by applying forces to the body itself or to corresponding input devices on the body. In many applications, the sensitivity or acuity of the respective input device for performing the movements is then a limiting factor. Furthermore, current solutions, due to their measurement principles for sensing the forces, have a sensitivity that depends on the position of the body.

[0003] Manipulators often have many degrees of freedom, so controlling all these axes simultaneously with Cartesian coordinate motion interpolated in all six degrees of freedom (X, Y, Z, Ry, Rz) is crucial to making the programming process fast and intuitive. Current solutions cannot get around this so far.

[0004] It is currently known to measure the motor currents required to move the individual axes of a body, especially a manipulator, and from this calculate the respective torques applied to the axes. By subtracting the required holding torque, the change caused by the forces on the axes can be calculated and converted to the next movement. However, this has the disadvantage that the forces applied to the body are only measured indirectly. Depending on the position of the body, especially the manipulator, leverage of different magnitudes can occur, which distributes the sensitivity of the solution across the workspace.

[0005] Alternatively, it is also known to directly measure the torque on each axis by means of a torque sensor installed on the axis and convert the change in torque caused by the force applied to the axis into the next movement. However, this method has the disadvantage that the force applied to the body is only measured indirectly and that depending on the position of the body, especially the manipulator, different amounts of leverage can occur. Furthermore, it is necessary to mount a torque sensor on each axis, which can be too costly.

[0006] Furthermore, it is also known to attach 3D joysticks to the body in order to be able to perform movements with limited degrees of freedom, however in that case only individual orthogonal directions can be controlled simultaneously, which severely limits the movement options. Summary of the Invention [Problem to be solved by the invention]

[0007] The object of the present invention is therefore to provide an apparatus and a method for determining the forces acting on a body in at least three spatial directions, and in particular a method for controlling a body based thereon, using which the forces applied to the body can be detected in such a way that a teach-in process or programming process of the body is made possible in a simple manner.

[0008] The object of the present invention is to provide a device for determining forces acting on a body in at least three spatial directions having the features of patent claim 1 and 2 The method for determining forces acting on a body in at least three spatial directions is characterized by the following: 4 The above-mentioned problems are solved by a method for controlling the movement of a body having the above-mentioned features.

[0009] Advantageous embodiments and developments of the invention are set out in the dependent claims. [Means for solving the problem]

[0010] The device according to the invention for determining forces acting on a body, in particular a manipulator, such as for example an industrial robot or cobot, in at least three spatial directions comprises at least one sensor element for mounting on a surface of the body, the at least one sensor element comprising at least three individual sensor elements, each individual sensor element being configured to determine an individual force in one direction or the at least one sensor element comprising at least one individual sensor element configured to determine an individual force in three spatial directions, and further comprises an evaluation / control unit, the evaluation / control unit detecting the individual forces determined by the individual sensor elements, the evaluation / control unit being configured to calculate the forces acting on the sensor element in at least three spatial directions by projecting the individual forces onto a virtual point of the sensor element. The sensor element being configured and adapted for mounting on the surface of the body allows a direct measurement of the forces acting on the body, in particular directly at the position where the forces are applied. If exactly one sensor element is arranged on the surface of the body, the force acting on the sensor element corresponds to the force acting on the body.

[0011] When using individual sensor elements configured to determine the individual forces in three spatial directions, a single individual sensor element is already sufficient. When using individual sensor elements configured to determine the individual forces in one direction, at least three individual sensor elements are arranged on one sensor element, preferably with the directions in which the three individual sensor elements determine the individual forces being respectively arranged perpendicular to one another, so that the forces can be determined in three spatial directions in a simple manner.

[0012] Preferably, each sensor element comprises a plurality of individual sensor elements, preferably at least 15, particularly preferably at least 20, which allows for an increased accuracy in determining the forces acting on the sensor element.

[0013] Advantageously, the individual sensor elements are arranged in a grid or polar arrangement, which simplifies the determination of the forces acting on the sensor elements, where it is particularly important that the geometric arrangement of the individual sensor elements relative to one another is known.

[0014] An advantageous development of the invention provides that the individual sensor elements of each sensor element have at least two groups of individual sensor elements which can be evaluated independently of one another, thereby allowing a redundant evaluation in order to meet safety requirements.

[0015] The individual sensor elements of each group are preferably arranged in a grid or pole arrangement, preferably the grid or pole arrangement being arranged in an interdigitated manner, for example in a checkerboard configuration, as a result of which a particularly good redundancy can be achieved.

[0016] According to a particularly advantageous embodiment of the invention, the device comprises at least two sensor elements, preferably arranged at a distance from one another, particularly preferably on opposite sides of the surface of the body. The use of multiple sensor elements makes it possible to determine the forces acting on the body in six spatial directions, i.e. the acting forces and torques, by combining the determined forces acting on the sensor elements in at least three spatial directions.

[0017] Preferably, the sensor elements can be evaluated independently of each other, whereby further redundancy can be achieved. According to an advantageous development of the invention, the sensor element has a cover that is mounted so as to be freely movable relative to the sensor element, such a cover making it possible to determine the forces acting on the sensor element in six spatial directions.

[0018] Preferably, the sensor element is made of a flexible material that can be applied to the body in a skin-like manner. The flexible material allows the sensor element to be attached to complex body shapes as well. The skin-like application has the advantage that the sensor element can be arranged in a space-saving manner and, in addition, the operation and handling can be simplified. The configuration of the sensor element as an artificial tactile skin allows an intuitive and fast programming, setting or teach-in process.

[0019] Advantageously, the evaluation / control unit includes a controller, into which the forces acting on the body can be introduced as actual values, the controller enabling the most optimal possible conversion of the applied forces into corresponding subsequent movements of the body.

[0020] The body according to the invention, in particular a manipulator, preferably an industrial robot or cobot, comprises the device according to the invention, and at least one sensor element, preferably at least two sensor elements, are arranged on the surface of the body. The mounting of the sensor element on the surface of the body makes it possible to directly determine the applied force. The body can then be moved manually in a simple manner for programming or for setting or teaching-in of an action, by contacting the body and displacing it in the desired direction by applying a force to the body itself.

[0021] According to a preferred development of the invention, a number of sensor elements are arranged on the surface of the body, in particular covering a large part, preferably the entire surface, and preferably the sensor elements are made of a flexible material that can be applied onto the body, in particular like the skin. If the surface of the body is widely covered with sensor elements, handling is simplified and can be formed in a particularly intuitive way.

[0022] The method according to the invention for determining forces acting on a body, in particular on a manipulator, for example an industrial robot or cobot, in at least three spatial directions comprises at least one sensor element mounted on a surface of the body, the at least one sensor element comprising at least three individual sensor elements, each individual sensor element being configured to determine an individual force in one direction or the at least one sensor element comprising at least one individual sensor element configured to determine an individual force in three spatial directions, and an evaluation / control unit, determining each individual force acting on each individual sensor element; calculating the forces acting on the sensor element in at least three spatial directions by projecting the individual forces onto a virtual point on the sensor element; has.

[0023] Such a method allows direct measurement of the forces applied to the body in at least three spatial directions, in particular directly at the location where the forces are applied. According to an advantageous development of the method, at least two sensor elements are arranged at a distance from one another on the surface of the body, the following being provided: determining for each sensor element an individual force acting on the individual sensor element; - calculating the forces acting on the sensor elements in at least three spatial directions by projecting for each sensor element the individual forces onto a virtual point on the sensor element; A step of calculating the forces and torques acting on the body is carried out, in particular by projecting the forces acting on the sensor element onto a virtual point of the body in space spaced apart in relation to the sensor element, in particular to a measuring surface of the sensor element.

[0024] Such a method makes it possible to directly measure the forces acting on the body in six spatial directions, namely the forces X, Y, Z and the torques Rx, Ry, Rz, specifically at the location where the forces are applied. Advantageously, the determination of the forces acting on the body is performed independently of each other using two groups of individual sensor elements, which allows redundancy, which is a safety feature.

[0025] Advantageously, the method according to the invention is further developed into a method for controlling the movement of a body, in particular a manipulator, for example an industrial robot or cobot, determining the forces acting on the body using a method according to the invention; introducing the forces acting on the body as actual values ​​into a controller; comparing the actual value with a target value of a controller; determining a manipulated variable for controlling the motion so as to reach a target value; has.

[0026] Such a controller can be used to perform a subsequent movement of the body based on an action force which causes a deviation of the actual force value from the target force value, in particular in the direction of the action force. Advantageously, disturbance variables are taken into account in the controller, which makes it possible to carry out the desired action even when disturbances have an effect.

[0027] Advantageously, the method according to the invention is further developed into a method for controlling the movement of a body, in particular a manipulator, for example an industrial robot or cobot, determining the forces acting on the body using a method according to the invention; comparing the determined force with predetermined minimum and / or maximum force values; allowing movement of the body if the determined force is greater than a minimum force value and / or less than a maximum force value; has.

[0028] Such a method allows safety functions such that body movements are only performed if certain conditions are met. In particular, safety-related permission switches such as deadman switches or confirmation switches can be realized in this way.

[0029] Advantageously, the method according to the invention is further developed into a method for controlling the movement of a body, in particular a manipulator, for example an industrial robot or cobot, - determining the forces acting on the body as a function of time using a method according to the invention; recognizing a pattern of forces acting on the body for input commands and / or control commands; has.

[0030] Such a method allows input and / or control commands to be entered into the evaluation / control unit. The pattern may have any force profile, such as tapping twice within a specified time, and may result in pre-programmed commands stored in the evaluation / control unit, for example saving the current position of the body, in particular the manipulator, or may allow the operation of an accessory, input keyboard or control panel attached to the body.

[0031] The invention will now be described in detail with reference to the embodiments shown in the following figures. [Brief description of the drawings]

[0032] [Figure 1] FIG. 1 shows a schematic perspective view of an embodiment of a device according to the invention having two sensor elements; [Diagram 2] FIG. 2 is a schematic diagram of a controller of the device according to FIG. 1; [Diagram 3] 2 is a schematic diagram of an authorization switching stage of the device according to FIG. 1; [Figure 4] 2 is a schematic perspective view of an alternative embodiment of a device according to the invention having a sensor element; [Diagram 5] FIG. 4 is a schematic diagram of the force patterns acting on the body 3 in response to control commands. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0033] FIG. 1 shows a schematic perspective view of an embodiment of a device 10 according to the invention for determining forces F acting on a body 3 in at least three spatial directions Fx, Fy, Fz, comprising at least one, in this embodiment two, sensor elements 1, 2 for mounting on a surface 3.1 of the body 3, and an evaluation / control unit 6.

[0034] The illustrated body 3 can be, for example, a partial segment of a manipulator, for example an arm or a section of an arm of an industrial robot or cobot. The body 3 may have any conceivable shape and may, moreover, of course, have components that are movable relative to one another. The body 7 comprises a drive unit 7, by means of which the body 7 is movable either relative to other components or relative to the ground. For example, by means of the drive unit 7, the body 3 configured as a partial segment of an arm of a manipulator can be rotated and / or tilted relative to a further partial segment of the arm of the manipulator. The control of the drive unit 7 can be performed by means of an evaluation / control unit 6, which can be located either in or on the body 3 or can be configured as a separate unit.

[0035] The sensor elements 1, 2 each have a measuring surface 1.1, 2.1, which, as shown by way of example for the sensor element 1, includes individual sensor elements 1.3. The individual sensor elements 1.3 are configured either to determine an individual force in one direction, which is usually perpendicular to the surface of the individual sensor elements 1.3, or to determine an individual force in three spatial directions. When using individual sensor elements 1.3 configured to determine an individual force in three spatial directions, the sensor elements 1, 2 each have at least one of the individual sensor elements 1.3, preferably a plurality of the individual sensor elements 1.3. When using individual sensor elements 1.3 configured to determine an individual force in one direction, the sensor elements 1, 2 each have at least three of the individual sensor elements 1.3, preferably a plurality of the individual sensor elements 1.3.

[0036] In a preferred optional embodiment, the sensor elements 1, 2 have at least 15, for example 16, particularly preferably at least 20, in this embodiment 24, individual sensor elements 1.3 arranged in a 4 x 4 grid. Independently of whether the individual sensor elements 1.3 determine forces in one or three spatial directions, a larger number of individual sensor elements 1.3 can improve the resolution.

[0037] The individual sensor elements 1.3 are preferably arranged in a grid or polar arrangement, for example in rows and columns of the same grid size, as shown in the figure. In particular, knowledge of the relative orientation of the individual sensor elements 1.3 with respect to one another is essential for the evaluation.

[0038] For each sensor element 1, 2, the forces Fx, Fy, Fz acting on the sensor element 1, 2 in the three spatial directions can be determined, in particular using the evaluation / control unit 6, such that a projection of the forces acting on the individual sensor element 1.3 on the virtual points 1.2, 2.2 of the sensor element 1, 2 is performed. The virtual points 1.2, 2.2 are then in particular located on the measuring surface 1.1, 2.1, for example in the center. By taking into account the individual positions of the individual sensor elements 1.3 relative to the virtual points 1.2, 2.2 and evaluating the absolute values ​​of the individual forces acting on the individual sensor elements 1.3, it is possible to determine the forces acting on the sensor elements 1, 2 in the three spatial directions, in particular at the virtual points 1.2, 2.2, i.e. in particular the three force components Fx, Fy, Fz.

[0039] Either of the two sensor elements 1, 2 described above makes it possible to determine the forces acting on the sensor elements 1, 2 and thus also on the body 3 in three spatial directions. A method for determining forces acting on a body 3, in particular a manipulator, in at least three spatial directions, comprising exactly one sensor element 1, 2 mounted on a surface 3.1 of the body 3, the sensor element 1, 2 comprising at least three individual sensor elements 3.1, each individual sensor element 1.3 being configured to determine an individual force in one direction, or the sensor element 1, 2 comprising at least one individual sensor element 1.3 configured to determine an individual force in three spatial directions, and an evaluation / control unit 6, can then carry out the following steps: First, each individual force acting on each individual sensor element 1.3 is determined. Then, the forces Fx, Fy, Fz acting on the sensor element 1, 2 in the three spatial directions are calculated by projecting the individual forces onto virtual points 1.2, 2.2 of the sensor element 1, 2.

[0040] For example, by combining and evaluating two sensor elements 1, 2, which may be arranged on opposite sides of the surface 3.1 of the body 3, as shown in FIG. 1, it is possible in a simple manner to determine the forces acting on the body 3 in six directions, not just three directions, i.e. the acting forces Fx, Fy, Fz and the acting torques Mx, My, Mz. The sensor elements 1, 2 may be arranged at a distance A from each other, the sensor element 1 may have a distance a to a virtual point 4 of the body 3, and the sensor element 2 may have a distance b to a virtual point 4 of the body 3. Preferably, the distance A corresponds to the sum of the distances a and b. To determine the forces acting on the body 3 in the six spatial directions, the forces acting on the sensor elements 1, 2 are projected onto the virtual point 4 of the body 3, in particular using an evaluation / control unit 6. Since the virtual point 4 is not within the measuring surfaces 1.1, 2.1 of the sensor elements 1, 2, but away from them, by taking into account the position of the individual sensor elements 1.3 relative to the virtual point 4 and evaluating the absolute values ​​of the individual forces acting on the individual sensor elements 1.3, in addition to the forces Fx, Fy, Fz acting in the three spatial directions, the torques Mx, My, Mz acting around the axes can also be determined.

[0041] A method for determining forces acting on a body 3, in particular a manipulator, in at least three, preferably six spatial directions, comprising at least two sensor elements 1, 2 mounted at a distance from one another on a surface 3.1 of the body 3, each of the sensor elements 1, 2 including at least one individual sensor element 1.3, each of the sensor elements 1.3 being configured to determine an individual force in one direction, or each of the sensor elements 1, 2 including at least one sensor element 1.3 configured to determine an individual force in three spatial directions, and an evaluation / control unit 6, can then carry out the following steps: First, for the sensor elements 1, 2, each individual force acting on each individual sensor element 1.3 is determined. Then, the forces acting on the sensor elements 1, 2 in the three spatial directions are calculated by projecting the individual forces onto virtual points 1.2, 2.2 of the sensor elements 1, 2. Finally, the forces Fx, Fy, Fz and torques Mx, My, Mz acting on the body 3 are calculated by projecting the forces acting on the sensor elements 1, 2 onto an imaginary point 4 of the body 3 which is spaced apart in particular with respect to the sensor elements 1, 2.

[0042] An alternative or additional option for determining the forces acting on the body 3 in six spatial directions, rather than just three, is described with reference to FIG. 4. The sensor element 1 illustrated in FIG. 4 differs from the sensor element 1 illustrated in FIG. 1 in that it has a cover 1.4 that is attached so as to be freely movable relative to the sensor element 1, in particular arranged parallel to the measuring surface 1.2. The cover 1.4 may, for example, be arranged fixedly on the surface 1.3 of the body, but may also be movable relative to the sensor element 1, in particular relative to the measuring surface 1.2. Thus, the user grasps the outer surface of the cover 1.4, which is connected to the individual sensor elements 1.3, so that the forces applied to the cover 1.4 are transferred to the individual sensor elements 1.3 via the rear surface of the cover 1.4. The imaginary point 1.2 is spaced from the outer surface of the cover 1.4 in the measuring surface 1.2, which additionally allows the determination of the three force components Fx, Fy, Fz in the three spatial directions, but also of the acting torques Mx, My, Mz.

[0043] In a method for determining forces acting on a body 3, in particular a manipulator, in at least three spatial directions, comprising a sensor element 1 mounted on a surface 3.1 of the body 3, in particular according to FIG. 4, which comprises at least one individual sensor element 1.3 configured to determine individual forces in at least three spatial directions, or at least three individual sensor elements configured to determine individual forces in one direction, and a cover 1.4 mounted so as to move freely relative to the sensor element 1, and an evaluation / control unit 6, the following steps can then be performed: First, each individual force acting on each individual sensor element 1.3 is determined. Then, the forces acting on the sensor elements 1, 2 in the three spatial directions are calculated by projecting the individual forces onto a virtual point 1.2 of the sensor element 1, 2, taking into account the distance between the cover 1.4 and the measurement surface 1.1.

[0044] FIG. 1 shows the sensor elements 1, 2 as planar sensor elements 1, 2, which are illustrated in an unrealistic manner to simplify the illustration, tangential to the convex surface 3.1 of the body 3. The sensor elements 1, 2 preferably conform to the surface 3.1 of the body 3. Particularly advantageously, the sensor elements 1, 2 may be made of a flexible material. Advantageously, the sensor elements 1, 2 are adaptable to the body 3 like an artificial tactile skin. In that case, a large number of sensor elements 1, 2 can be arranged on the surface 3.1 of the body 3, in particular covering a large part of the surface 3.1 of the body 3, preferably covering the entire surface 3.1.

[0045] To control the movement of the body 3, preferably based on the forces acting on the body, a manipulated variable is determined, which the drive unit 7 converts into a corresponding movement of the body 3 in the direction of the acting force. Preferably, for this purpose, in particular in the evaluation / control unit 6, a controller 5 is provided, which is illustrated diagrammatically in FIG. 2. Based on the change in the balance of forces of the body 3, the controller 5 is intended to execute a subsequent movement of the body 3 in the direction of the force imbalance. For this purpose, the controller 5 may comprise a control loop 5.3 and a control device 5.4, which receives as input values ​​in a comparator 5.7 an actual value 5.1 and a control deviation 5.8 resulting from a setpoint value 5.6. The actual value 5.1 corresponds to the force acting on the body 3, determined in particular using the sensor elements 1, 2. The setpoint value 5.6 may, for example, be defined by the balance of forces. The control loop 5.3 consequently provides a control variable 5.2, which may define a manipulated variable for the drive unit 7. In the control loop 5.3, disturbance variables 5.5 can be taken into account. The body movement then executed can be, for example, a linear or rotational movement. The center point of the movement can be placed at any point of the body 3 by kinematic transformation, for example at the virtual point 4, but also at other points. The evaluation / control unit 6 and the drive unit 7 then make it possible to determine one or more spatial directions, so that a particular movement can be executed in the desired spatial direction.

[0046] Thus, following the respective methods described for determining the forces acting on the body 3, the forces acting on the body can then be introduced into the controller 5, for example as actual values ​​5.1, which are compared with target values ​​5.6 and manipulated variables for motion control are determined to reach the target values ​​5.6, in order to provide a method for controlling the movement of the body 3. In this method for controlling the movement of the body 3, disturbance variables 5.5 can also be taken into account in the controller 5, particularly in the control loop 5.3.

[0047] Data and signal transmission between all components can be wired or wireless. In each of the described calculations, all individual sensor elements 1.3 can be taken into account for the evaluation. There is also the option of dividing the individual sensor elements 1.3 into two groups of individual sensor elements 1.3′, 1.3″, the group of individual sensor elements 1.3′, which is illustrated without hatching for illustrative purposes in FIG. 1, can be evaluated independently of the group of individual sensor elements 1.3″, which is illustrated with hatching in FIG. 1, for example, to allow for a redundant evaluation. The individual sensor elements 1.3′, 1.3″ of each group are preferably arranged in a grid or pole arrangement, respectively, in particular the grid or pole arrangement is arranged so as to interlock with one another, for example in a chessboard arrangement (see FIG. 1 or FIG. 4). In the case of several sensor elements 1, 2, an individual and / or independent evaluation of each sensor element 1, 2 is also possible, and additional plausibility checks can be performed, for example to verify whether a force is applied to each of the sensor elements 1, 2 and / or to allow for further redundancy.

[0048] Thus, in each of the described methods for determining the force acting on the body 3, the force acting on the body can be determined independently of one another using two groups of individual sensor elements 1.3′.

[0049] Further safety-related functions can be realized by suitable evaluation of the individual forces acting on the sensor elements 1, 2, in particular on the individual sensors 1.3. For example, a general safety-related permission switch for the movement of the body 3, such as a deadman switch or a confirmation switch, can have three switching stages: a switching stage S1, in which the switch is not actuated, a switching stage S2, in which the movement of the body 3 is permitted, and a switching stage S3, in which an emergency stop is performed. For this purpose, a minimum force value G1 and a maximum force value G2 can be defined as lower and upper switching thresholds, the switching stage S1 being for forces below the minimum force value G1, the switching stage S2 being for forces between the minimum force value G1 and the maximum force value G2, and the switching stage S3 being for forces above the maximum force value G2 (see FIG. 3, in which an example of the magnitude F of the force acting on the sensor elements 1, 2 is plotted as a function of time t). For example, for one of the sensor elements 1, 2, the movement of the body 3 can be permitted if the magnitude F of the force acting on the sensor element 1, 2 is within the range of the switching stage S2. 3, the safety function is improved if the movement of the body 3 is permitted when the force magnitude F acting on the sensor elements 1, 2 is within the switching phase S2 range for both sensor elements 1, 2. In one example of a method for controlling the body 3, first the force acting on the body 3 can be determined using the sensor elements 1, 2, then the determined force, in particular the averaged force magnitude F, is compared with a predefined minimum force value G1 and / or maximum force value G2, and if the determined force or the determined force magnitude F is greater than the minimum force value G1 and / or less than the maximum force value G2, the movement of the body 3 is permitted.

[0050] In the evaluation / control unit 6, in one embodiment of the present invention, a pattern of forces acting on the body 3 can be stored for a control command, this pattern representing a force profile as a function of time t. The force acting on the body 3 as a function of time t, in particular the magnitude F of the force acting on the body 3 as a function of time t, is compared with the stored pattern to recognize such a pattern and, following its recognition, is converted into a corresponding control command. Figure 5 shows an example of a force profile in which the sensor element 1 is tapped twice. The force maxima occur at times t1 and t2. For example, if the time interval t2-t1 is shorter than a predefined time difference in the stored pattern and the force maxima exceed a predefined minimum limit value G1 in the stored pattern, the pattern is recognized and linked with the pattern and a corresponding control command stored in the evaluation / control unit can be executed, for example the current position of the body 3, for example the arm of a manipulator, can be saved or for example the operation of an accessory fixed to the body 3, such as an input field, can be allowed.

[0051] Thus, the method for controlling the body 3, in particular a manipulator, comprises determining the forces acting on the body 3, in particular the magnitude F of the forces acting on the body 3 as a function of time t, followed by recognition of the pattern of forces acting on the body 3 due to input commands and / or control commands. [Explanation of symbols]

[0052] 1 Sensor element 1.1 Measurement surface 1.2 Virtual points 1.3 Individual Sensor Elements 1.3′ Individual sensor elements 1.3″ individual sensor elements 1.4 Cover 2 Sensor elements 1.1 Measurement surface 2.1 Virtual points 3. Main unit 3.1 Surface 4 Virtual points 5. Controller 5.1 Actual Values 5.2 Control variables 5.3 Control Loop 5.4 Control Unit 5.5 Disturbance variables 5.6 Target Values 5.7 Comparators 5.8 Control Deviation 6 Evaluation / Control Section 7 Drive unit 10 equipment A Distance a Distance b distance F force Fx force Fy power Fz force Mx Torque My Torque Mz Torque t time S1 Switching stage S2 Switching stage S3 Switching Stage G1 Minimum force value G2 Maximum Force Value

Claims

1. A device for determining forces (Fx, Fy, Fz, Mx, My, Mz) acting on a body (3) in at least three spatial directions, comprising: at least one sensor element (1, 2) for mounting on a surface (3.1) of said body (3), said at least one sensor element (1, 2) comprising at least three individual sensor elements (1.3), each individual sensor element (1.3) being configured to determine an individual force in one direction or said at least one sensor element (1, 2) comprising at least one individual sensor element (1.3) configured to determine an individual force in three spatial directions; an evaluation / control unit (6) configured to detect individual forces determined by each individual sensor element (1.3) and to calculate forces (Fx, Fy, Fz, Mx, My, Mz) acting on said sensor elements (1, 2) in at least three spatial directions by projecting said individual forces onto virtual points (1.2, 2.2) of said sensor elements (1, 2); Equipped with 1. An apparatus comprising at least two groups of individual sensor elements (1.3', 1.3''), the individual sensor elements (1.3) of each sensor element (1, 2) being capable of being evaluated independently of one another.

2. 2. The device according to claim 1, characterized in that each sensor element (1, 2) comprises a number of individual sensor elements (1.3).

3. 3. The device according to claim 1, wherein the individual sensor elements (1.3) are arranged in a grid or polar arrangement.

4. 4. The device according to claim 1, wherein the individual sensor elements (1.3', 1.3'') of each group are respectively arranged in a grid or polar arrangement.

5. 5. Apparatus according to any one of the preceding claims, wherein the apparatus comprises at least two sensor elements (1, 2).

6. 6. The device according to claim 5, characterized in that the sensor elements (1, 2) can be evaluated independently of one another.

7. 7. Device according to any one of the preceding claims, characterized in that the sensor element (1) has a cover (1.4) mounted so as to be freely movable relative to the sensor element (1).

8. 8. Device according to any one of the preceding claims, characterized in that the sensor elements (1, 2) are made of a flexible material which can be applied onto the body (3).

9. 9. The device according to claim 1, wherein the evaluation / control unit (6) has a controller (5) and is capable of introducing the force acting on the body (3) as an actual value (5.1) into the controller (5).

10. A body (3) having a device (10) according to any one of claims 1 to 9, wherein the at least one sensor element (1, 2) is arranged on the surface (3.1) of the body (3).

11. Body according to claim 10, characterised in that a number of sensor elements (1, 2) are arranged on the surface (3.1) of the body (3).

12. A method for determining forces (Fx, Fy, Fz, Mx, My, Mz) acting on a body (3) in at least three spatial directions, comprising at least one sensor element (1, 2) mounted on a surface (3.1) of said body (3), said at least one sensor element (1, 2) comprising at least three individual sensor elements (1.3), each individual sensor element (1.3) being configured to determine an individual force in one direction or said at least one sensor element (1, 2) comprising at least one individual sensor element (1.3) configured to determine an individual force in three spatial directions; Evaluation / control section (6) Using determining each individual force acting on each individual sensor element (1.3); calculating the forces (Fx, Fy, Fz, Mx, My, Mz) acting on the sensor element (1, 2) in at least three spatial directions by projecting the individual forces onto a virtual point (1.2, 2.2) of the sensor element (1, 2); Including, Method, wherein said determining of said forces acting on said body (3) is performed independently of each other using two groups of individual sensor elements (1.3', 1.3'').

13. At least two sensor elements (1, 2) are arranged at a distance (A) from each other on said surface (3.1) of said body (3), determining for each sensor element (1, 2) each individual force acting on each individual sensor element (1.3); - calculating the forces (Fx, Fy, Fz, Mx, My, Mz) acting on said sensor element (1,2) in at least three spatial directions by projecting said individual forces onto a virtual point (1.2, 2.2) of said sensor element (1,2); 13. The method for determining forces acting on a body according to claim 12, characterized in that a step of calculating the forces (Fx, Fy, Fz) and torques (Mx, My, Mz) acting on the body (3) by projecting the forces acting on the sensor elements (1, 2) onto a virtual point (4) of the body (3) is performed.

14. A method for controlling the movement of a body (3), comprising the steps of: - determining the forces acting on the body (3) using a method according to claim 12 or 13; introducing said forces acting on said body (3) as actual values ​​(5.1) into a controller (5); - comparing said actual value (5.1) with a target value (5.6) of said controller (5); determining a manipulated variable (5.2) for motion control to reach said target value (5.6); The method includes:

15. 15. Method for controlling the movement of a body according to claim 14, characterized in that in the controller (5) disturbance variables (5.5) are taken into account.

16. A method for controlling a body (3), comprising: - determining the forces acting on the body (3) using a method according to claim 12 or 13; comparing said determined force (F) with a predetermined minimum force value (G1) and / or maximum force value (G2); allowing movement of the body (3) if the determined force (F) is greater than the minimum force value (G1) and / or less than the maximum force value (G2); The method includes:

17. A method for controlling a body (3), comprising: - determining the forces acting on the body (3) as a function of time, using a method according to claim 12 or 13; recognizing a pattern of said forces acting on said body (3) for input and / or control commands; The method includes:

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