Switching a control of a robot into a manual operating mode

A method for switching a control of a robot into a manual operating mode, wherein the robot is movable by a user manually applying at least one of a force or a torque upon the robot, includes detecting at least one of joint forces or joint torques of the robot, and triggering an error reaction in response to the switching and based on at least one of the detected joint forces and/or joint torques, target joint forces and/or target joint torques, or a pose of the robot.

Monitoring A Kinematically Redundant Robot

A method for monitoring a kinematically redundant robot includes detecting joint forces acting in the joints of the robot, determining an external work force between a robot-permanent reference point and an environment based on the detected joint forces, determining a further monitoring variable that is at least substantially independent of an external force acting on the robot-permanent reference point based on the detected joint forces, and monitoring the determined external work force and the determined further monitoring variable. 1. A method for monitoring a kinematically redundant robot , the method comprising:detecting joint forces acting in joints of the robot;determining an external work force between a robot-permanent reference point and an environment based on the detected joint forces;determining, based on the detected joint forces, a further monitoring variable which is at least substantially independent of an external force acting on the robot-permanent reference point; andmonitoring the determined external work force and the determined further monitoring variable.2. The method of claim 1 , further comprising:triggering a first safety reaction when the determined external work force fulfills a first variably definable monitoring condition; andtriggering the first safety reaction or a second safety reaction when the determined further monitoring variable fulfills the first monitoring condition or a second pre-definable monitoring condition.3. The method of claim 1 , wherein the further monitoring variable comprises an external force spaced apart from the robot-permanent reference point.4. The method of claim 2 , wherein the further monitoring variable comprises an external force spaced apart from the robot-permanent reference point.5. The method of claim 1 , wherein the joint forces are mapped onto the external work force by a first linear mapping.6. The method of claim 2 , wherein the joint forces are mapped onto the external work force by a first ...

Switching A Control Of A Robot Into A Manual Operating Mode

A method for switching a control of a robot into a manual operating mode, wherein the robot is movable by a user manually applying at least one of a force or a torque upon the robot, includes detecting at least one of joint forces or joint torques of the robot, and triggering an error reaction in response to the switching and based on at least one of the detected joint forces and/or joint torques, target joint forces and/or target joint torques, or a pose of the robot. 1. A method for switching a control of a robot into a manual operating mode wherein the robot is movable by a user manually applying at least one of a force or a torque upon the robot , the method comprising:detecting with a robot controller at least one of joint forces or joint torques; the detected joint forces and/or joint torques,', 'target joint forces and/or target joint torques, or', 'a pose of the robot., 'triggering an error reaction in response to the switching and based on at least one of2. The method of claim 1 , wherein the error reaction is triggered based on whether at least one of:a vertical force determined based on the detected joint forces and/or joint torques of the robot, acting externally upon the robot, exceeds a predetermined vertical force threshold;a horizontal torque externally acting upon the robot and determined based on detected joint forces and/or joint torques exceeds a predetermined horizontal torque threshold;a change of a target joint force or a target joint torque resulting from the switching exceeds a change threshold;a ratio of a vertical force, acting externally upon the robot, to joint forces and/or joint torques of the robot resulting from the vertical force, or a ratio of a horizontal torque acting externally upon the robot to joint forces and/or joint torque of the robot resulting from the horizontal torque, exceeds a pose threshold; ora joint force of the robot resulting from one of a force acting externally upon the robot or a torque acting externally upon ...

Medical Robot And Method For Meeting The Performance Requirements Of A Medical Robot

The invention relates to a medical robot (R) and a method for meeting the performance requirements of a medical robot (R). The robot (R) comprises several axes (1-6) and a controller (17). A medical tool (21 -24) is fixed to a fixing device (18) on the robot (R) and the working range (30) of the robot (R) is set by the controller (17) in particular with safe techniques such that the robot (R) meets the performance requirements of the medical tool (21-24).

Medical Workstation

The invention relates to a medical work station (1) for treating a living being (13) by means of a medical instrument (1). The work station (1) includes at least one robot arm (3), which has a plurality of members connected by means of joints, drives to move the members, and an attaching device (10), at least one control device (4) coupled with the drives, which is set up to generate signals for actuating the drives, so that the attaching devices (10) carry out movements assigned to the signals, and a display device (6) coupled with the control device (4).

Telepresence system

A telepresence system includes a man-machine interface and a teleoperator configured to communicate bidirectionally with the man-machine interface via a communications channel. The teleoperator performs actions based on first signals generated due to a manual operation of the man-machine interface and transmitted over the communication channel, and sends second signals to the man-machine interface over a second communication channel. At least one buffer device buffers signals transferred through the communication channel and releases the signals delayed so that the signals coming from the man-machine interface and the signals coming from the teleoperator each are transmitted through the communication channel with an effective constant time delay.

Method for controlling a robot

A method for controlling a robot includes monitoring the robot, and carrying out a fault reaction, selected from a number of specified fault reactions, on the basis of the monitoring of the robot, wherein the fault reaction is selected on the basis of a monitoring of an operational capability and/or an output variable of at least one motor of the robot.

Method For Controlling A Robot

A method for controlling a robot includes monitoring the robot, and carrying out a fault reaction, selected from a number of specified fault reactions, on the basis of the monitoring of the robot, wherein the fault reaction is selected on the basis of a monitoring of an operational capability and/or an output variable of at least one motor of the robot. 1. A method for controlling a robot , the method comprising:monitoring at least one of an operational capability or an output variable of at least one motor of the robot; andcarrying out a fault reaction, wherein the fault reaction is selected from a plurality of specified fault reactions on the basis of the monitoring of the robot.2. The method of claim 1 , wherein the plurality of specified fault reactions comprises at least one of:at least one motor-active fault reaction; orat least one motor-passive fault reaction.3. The method of claim 2 , wherein:the at least one motor-active fault reaction includes at least one of a motor deceleration with or without a subsequent disconnecting from an energy source, a compliance control, or a retraction motion; andthe least one motor-passive fault reaction includes an immediate disconnection from the energy source without deceleration of the motor.4. The method of claim 1 , further comprising:controlling the motor in a normal operating mode with a first control; andcontrolling the motor during a fault reaction with a second control which is different from the first control.5. The method of claim 1 , wherein monitoring an operational capability comprises a classification of an operational capability claim 1 , the classification having at least two steps.6. The method of claim 5 , wherein the classification has at least three steps.7. The method of claim 1 , wherein monitoring an operational capability comprisesdetermining at least one parameter; andcomparing the at least one parameter with a specified parameter.8. The method of claim 7 , wherein the at least one parameter ...

Telepresence System

The invention relates to a telepresence system () with a human-machine interface (), and with a teleoperator () designed to communicate bid sectionally with the human-machine interface () via a communications channel (). 1. A telepresence system comprising:a man-machine interface,{'b': '4', 'a teleoperator, which is designed to bi-directionally communicate over a communication channel with the man-machine interface, and which is designed to perform an action on the basis of first signals generated due to a manual operation of the man-machine interface and transmitted over the communication channel, based on the action performed to respond to its environment and, in response to the reaction to its environment, to send to the man-machine interface assigned second signals through the second communication channel (), and'}{'b': '4', 'at least one buffer device, which is adapted to buffer the signals transferred through the communication channel and to release them delayed so that the signals coming from the man-machine interface and the signals coming from the teleoperator each are transmitted through the communication channel () with an effective constant time delay.'}2. A telepresence system , whose at least one buffer device is so arranged as to buffer the signals transmitted through the communication channel and generate them with a delay so that the signals coming from the man-machine interface and the signals coming from the teleoperator are effectively transmitted over the communication channel with the same duration of time delay.3. The telepresence system according to claim 1 , whose human-machine interface is designed in such a manner that it subjects the first signals claim 1 , which are generated as a result of the manual operation of the man-machine interface claim 1 , to a passivating transformation claim 1 , in particular to a scattering transformation in order to obtain first transformed signals and to send them through the communication channel to the ...

Configurable security monitoring for a robot assembly

A method of safety monitoring for a robot assembly with at least one robot that is configured with a linking function arrangement with at least one first linking function including a fixed and predetermined number of monitoring functions of a monitoring function arrangement. The monitoring functions are logically linked to one another such that the first linking function has a reaction state whenever all of the monitoring functions indicate the violated and/or error state. The first linking function does not have a reaction state whenever any monitoring function from the plurality of monitoring functions does not indicate the violated and/or error state. The reaction state is executed by the controller when all of the monitoring functions are in the violated and/or error state.

Method to test a brake of a robot

In a method to test a brake of a robot that has a number of axes, an actuator associated with one of the axes, a brake associated with this axis that is set up to at least reduce a movement of this axis, and a torque sensor associated with this axis, which determines the torque acting on this axis. The brake is activated, the torque acting on the axis is determined by the torque sensor given an activated brake, and the functional capability of the brake is assessed in a processor based on an evaluation of the torque determined by the torque sensor.

Medical workstation

A medical work station for treating a living being using a medical instrument includes at least one robot arm, which has a plurality of members connected by joints, drives to move the members, and an attaching device, at least one control device coupled with the drives, which is set up to generate signals for actuating the drives, so that the attaching devices carry out movements assigned to the signals, and a display device coupled with the control device.

Method and apparatus for controlling a robot

A method for controlling a robot in at least one pose of the robot wherein the robot can be operated in either a first mode of operation or a second mode of operation. In the second mode of operation the robot can be moved by manually applying a guiding force to the robot. The method includes determining a distance of a state variable of the robot from a first limit and then triggering a safety response when the distance satisfies a first condition and the robot is operating in the first mode of operation. When the robot is operating in the second mode of operation and the distance satisfies the first condition, the method includes not triggering the safety response, and motorically applying a positioning force to the robot in dependence on the determined distance so that the distance can be reduced when the robot is unobstructed.

Monitoring a kinematically redundant robot

A method for monitoring a kinematically redundant robot includes detecting joint forces acting in the joints of the robot, determining an external work force between a robot-permanent reference point and an environment based on the detected joint forces, determining a further monitoring variable that is at least substantially independent of an external force acting on the robot-permanent reference point based on the detected joint forces, and monitoring the determined external work force and the determined further monitoring variable.

Medical robot and method for meeting the performance requirements of a medical robot

The invention relates to a medical robot (R) and a method for meeting the performance requirements of a medical robot (R). The robot (R) comprises several axes (1-6) and a controller (17). A medical tool (21-24) is fixed to a fixing device (18) on the robot (R) and the working range (30) of the robot (R) is set by the controller (17) in particular with safe techniques such that the robot (R) meets the performance requirements of the medical tool (21-24).

Method And Apparatus For Controlling A Robot

A method for controlling a robot in at least one pose of the robot wherein the robot can be operated in either a first mode of operation or a second mode of operation. In the second mode of operation the robot can be moved by manually applying a guiding force to the robot. The method includes determining a distance of a state variable of the robot from a first limit and then triggering a safety response when the distance satisfies a first condition and the robot is operating in the first mode of operation. When the robot is operating in the second mode of operation and the distance satisfies the first condition, the method includes not triggering the safety response, and motorically applying a positioning force to the robot in dependence on the determined distance so that the distance can be reduced when the robot is unobstructed.

Method For Operating A Medical Robot, Medical Robot, And Medical Work Place

The invention relates to a method for operating a telemanipulated medical robot (R) guided by hand or by means of an input device, to a telemanipulated medical robot (R) guided by hand or by means of an input device, and to a medical work place. The medical robot (R) comprises a robot arm (M) with a plurality of moveable axes (1-6) and a control device (17) for moving the axes (1-6) of the robot arms (M) by means of drives (11-16). The control device (17) is adapted to automatically change the work region (A) of the medical robot (R) due to a change of position, relative to a robot base (B) of the medical robot (R), of a living being (P) that is being treated by means of the medical robot (R) in such a way that the work region (A) of the medical robot (R) stays the same relative to the living being (P).

Control of A Robot

A method for controlling a robot having a drive arrangement with at least one drive includes determining an actual velocity of the robot, determining a target velocity for the robot, and determining a damping drive parameter based on a difference between the target velocity and the actual velocity. The target velocity is determined based on at least one of a predetermined maximum velocity, a predetermined minimum velocity, or a first distance of the robot from at least one predetermined boundary. The drive arrangement of the robot is then controlled based on the damping drive parameter.

METHOD TO TEST A BRAKE OF A ROBOT

In a method to test a brake of a robot that has a number of axes, an actuator associated with one of the axes, a brake associated with this axis that is set up to at least reduce a movement of this axis, and a torque sensor associated with this axis, which determines the torque acting on this axis. The brake is activated, the torque acting on the axis is determined by the torque sensor given an activated brake, and the functional capability of the brake is assessed in a processor based on an evaluation of the torque determined by the torque sensor.

Configurable Security Monitoring For A Robot Assembly

A safety monitoring means for a robot assembly with at least one robot includes a configuration means for configuring a linking function arrangement with at least one first linking function including a fixed and predetermined number of monitoring functions of a monitoring function arrangement. The monitoring functions are logically linked to one another such that the first linking function has a reaction state whenever none of the monitoring functions indicates a not-violated state. The configuration means may further include at least one second linking function including a fixed and predetermined number of monitoring functions that are logically linked to one another such that the second linking function does not have a reaction state whenever all monitoring functions indicate a violated state.

Monitoring of a kinematically redundant robot

Ein erfindungsgemäßes Verfahren zum Überwachen eines kinematisch redundanten Roboters (1), umfasst die Schritte: Erfassen (S10, S20) von Gelenkkräften ( τ , T̂ e ), die in Gelenken des Roboters wirken; Ermitteln (S30) von einer externen Wirkkraft ( f̂ w ) zwischen einer roboterfesten Referenz (TCP) und einer Umgebung auf Basis der erfassten Gelenkkräfte; Ermitteln (S40) von einer weiteren Überwachungsgröße (τ̂ NS ), die wenigstens im Wesentlichen unabhängig von einer auf die roboterfeste Referenz wirkenden externen Kraft ist, auf Basis der erfassten Gelenkkräfte; und Überwachen (S50, S60) der ermittelten externen Wirkkraft und der ermittelten weiteren Überwachungsgröße. An inventive method for monitoring a kinematically redundant robot (1), comprises the steps: Detecting (S10, S20) joint forces ( τ , T e ) acting in joints of the robot; Determining (S30) an external force ( f w ) between a robot-fixed reference (TCP) and an environment based on the detected joint forces; Determining (S40) a further amount of monitoring (τ NS ) at least substantially independent of an external force acting on the robot fixed reference based on the detected joint forces; and Monitoring (S50, S60) the determined external active force and the determined further monitored variable.

Medical robot and method for meeting the performance requirement of a medical robot

Die Erfindung betrifft einen medizinischen Roboter (R) und ein Verfahren zur Erfüllung der Performanceanforderung eines medizinischen Roboters (R). Der Roboter (R) weist mehrere Achsen (1-6) und eine Steuerungsvorrichtung (17) auf. An einer Befestigungsvorrichtung (18) des Roboters (R) wird ein medizinisches Werkzeug (21-24) befestigt und der Arbeitsbereich (30) des Roboters (R) wird durch die Steuerungsvorrichtung (17) insbesondere in sicherer Technik derart angepasst, dass der Roboter (R) die Performanceanforderung der mit dem medizinischen Werkzeug (21-24) durchzuführenden Applikation erfüllt. The invention relates to a medical robot (R) and a method for meeting the performance requirement of a medical robot (R). The robot (R) has a plurality of axes (1-6) and a control device (17). A medical tool (21-24) is attached to a fastening device (18) of the robot (R) and the working area (30) of the robot (R) is adapted by the control device (17), in particular using secure technology, such that the robot (FIG. R) fulfills the performance requirement of the application to be performed with the medical tool (21-24).

Method for operating robot, particularly industrial robot, involves controlling element by control device of robot by movable electric drive

The method involves controlling an element (6-9) by a control device (19) of a robot (R) by a movable electric drive. The voltage level of direct current voltage of intermediate circuit is adjusted due to an application-specific movement of element of the robot. An independent claim is also included for a robot with an element.

Door i.e. vehicle door, has actuators provided in operative connection with sensor devices, and kinematics degrees of freedom assigned to actuators for motor support of opening and/or closing motion and/or unlocking-or locking process

The door (10) has actuators (18, 20) provided in operative connection with sensor devices (24, 26, 28). Two kinematics degrees of freedom (alpha, X) are assigned to the actuators for a motor support of an opening and/or a closing motion and/or an unlocking-or locking process. The sensor devices are provided for detecting movement characteristic values of the door. The sensor devices are provided for detecting an operating force between the door and a person operating the door and for detecting a kinetic quantity e.g. speed, of the door. An independent claim is also included for a method for operating a door or a flap.

Switching of a controller of a robot in a manual operating mode

Robot and method for operating a robot

Die Erfindung betrifft ein Verfahren zum Betreiben eines Roboters (R), der wenigstens ein Glied (6-9), das gesteuert von einer Steuervorrichtung (19) des Roboters (R) mittels eines geregelten elektrischen Antriebs (E) bewegbar ist. Der geregelte elektrische Antrieb (E) umfasst einen zumindest indirekt mit dem Glied (6-9) mechanisch gekoppelten Elektromotor (11-14), ein den Elektromotor (11-14) ansteuerndes Stellglied (15-18) und eine das Stellglied (15-18) ansteuernde Regelvorrichtung (28). Gemäß dem Verfahren ist ein roboterapplikationsspezifisches dynamisches Begrenzen des Wertes der Führungs- (Iq) und/oder Stellgröße (U d,q ) der Regelvorrichtung (28) vorgesehen. The invention relates to a method for operating a robot (R), which is at least one member (6-9) controlled by a control device (19) of the robot (R) by means of a controlled electric drive (E) is movable. The regulated electric drive (E) comprises an at least indirectly with the member (6-9) mechanically coupled electric motor (11-14), an electric motor (11-14) controlling the actuator (15-18) and the actuator (15-18) 18) controlling the control device (28). According to the method, a robot application-specific dynamic limiting of the value of the control (Iq) and / or manipulated variable (U d, q ) of the control device (28) is provided.

Verfahren und vorrichtung zum steuern eines roboters

Umschalten einer Steuerung eines Roboters in einen Handführ-Betriebsmodus

Verfahren zum Umschalten einer Steuerung (1) eines Roboters (2) in einen Handführ-Betriebsmodus (H), der zum Bewegen des Roboters durch manuelles Aufprägen von Kräften und/oder Drehmomenten auf den Roboter eingerichtet ist, wobei infolge des Umschaltens und in Abhängigkeit von erfassten Gelenkkräften und/oder -drehmomenten (τmess) und/oder Soll-Gelenkkräften und/oder - drehmomenten (τd) und/oder einer Pose des Roboters eine Fehlerreaktion (R) ausgelöst wird (S40),wobei die Fehlerreaktion in Abhängigkeit davon ausgelöst wird, ob eine auf Basis von erfassten Gelenkkräften und/oder -drehmomenten (τmess) des Roboters ermittelte, extern auf den Roboter wirkende Vertikalkraft (fz) einen Vertikalkraft-Schwellwert (G3) übersteigt (S60); und/oderein auf Basis von erfassten Gelenkkräften und/oder -drehmomenten (τmess) des Roboters ermitteltes, extern auf den Roboter wirkendes Horizontaldrehmoment (Tx, Ty) einen Horizontaldrehmoment-Schwellwert (G4) übersteigt (S70); und/oder eine Änderung (dτd,i/dt) einer Soll-Gelenkkraft oder eines Soll-Gelenkdrehmoments (τd,i) infolge des Umschaltens einen Änderungs-Schwellwert (G6) übersteigt (S90); und/oderein Verhältnis (ζ) einer extern auf den Roboter wirkenden Vertikalkraft zu hierdurch aufgeprägten Gelenkkräften und/oder -drehmomenten des Roboters oder ein Verhältnis eines extern auf den Roboter wirkenden Horizontaldrehmoments zu hierdurch aufgeprägten Gelenkkräften und/oder -drehmomenten des Roboters einen Posen-Schwellwert (G2) übersteigt; und/odereine durch eine extern auf den Roboter wirkende Kraft oder ein extern auf den Roboter wirkendes Drehmoment aufgeprägte Gelenkkraft des Roboters oder ein durch eine extern auf den Roboter wirkende Kraft oder ein extern auf den Roboter wirkendes Drehmoment aufgeprägtes Gelenkdrehmoment (τe, i) des Roboters einen Gelenk-Schwellwert (Gübersteigt1) übersteigt.

Medizinischer roboter und verfahren zur erfüllung der performanceanforderung eines medizinischen roboters

Verfahren und system zum betreiben eines roboters

Zum Betreiben eines Roboters (10) wird wenigstens eine erste Richtung, in der eine äußere Last (f x ) an der Referenz aufgrund einer Nähe zu einer singulären Stellung des Roboters auf Basis von erfassten Gelenklasten nicht zuverlässig detektierbar ist, als nicht auf Basis von erfassten Gelenklasten überwacht angezeigt (S20) und/oder wenigstens eine zweite Richtung, in der eine äußere Last (f z ) an der Referenz auf Basis von erfassten Gelenklasten trotz einer Nähe zu der singulären Stellung zuverlässig detektierbar ist, als auf Basis von erfassten Gelenklasten überwachbarangezeigt (S20). Zusätzlich oder alternativ wird wenigstens eine erste Richtung gesperrt (S20), falls eine äußere Last (f x ) an der Referenz in dieser Richtung aufgrund einer Nähe zu einer singulären Stellung des Roboters auf Basis von erfassten Gelenklasten nicht zuverlässig detektierbar ist, und bei der wenigstens einen gesperrten Richtung und simultaner Verstellung mehrerer Gelenke des Roboters ist eine Überwachung einer äußeren Last (f z ) an der Referenz in wenigstens einer zweiten Richtung auf Basis von erfassten Gelenklasten vorgesehen, in der eine äußere Last an der Referenz auf Basis von erfassten Gelenklasten trotz einer Nähe zu der singulären Stellung zuverlässig detektierbar ist.

Verfahren und system zum betreiben eines roboters

Zum Betreiben eines Roboters (10) wird wenigstens eine erste Richtung, in der eine äußere Last (fx) an der Referenz aufgrund einer Nähe zu einer singulären Stellung des Roboters auf Basis von erfassten Gelenklasten nicht zuverlässig detektierbar ist, als nicht auf Basis von erfassten Gelenklasten überwacht angezeigt (S20) und/oder wenigstens eine zweite Richtung, in der eine äußere Last (fz) an der Referenz auf Basis von erfassten Gelenklasten trotz einer Nähe zu der singulären Stellung zuverlässig detektierbar ist, als auf Basis von erfassten Gelenklasten überwachbarangezeigt (S20). Zusätzlich oder alternativ wird wenigstens eine erste Richtung gesperrt (S20), falls eine äußere Last (fx) an der Referenz in dieser Richtung aufgrund einer Nähe zu einer singulären Stellung des Roboters auf Basis von erfassten Gelenklasten nicht zuverlässig detektierbar ist, und bei der wenigstens einen gesperrten Richtung und simultaner Verstellung mehrerer Gelenke des Roboters ist eine Überwachung einer äußeren Last (fz) an der Referenz in wenigstens einer zweiten Richtung auf Basis von erfassten Gelenklasten vorgesehen, in der eine äußere Last an der Referenz auf Basis von erfassten Gelenklasten trotz einer Nähe zu der singulären Stellung zuverlässig detektierbar ist.

Verfahren und vorrichtung zum steuern eines roboters

Roboter und Verfahren zum Betreiben eines Roboters