Method and apparatus for controlling a robot

US10016894B2 · kind B2 · utility

Assignee

• KUKA Deutschland GmbH · DE

Inventors

• Gerhard Hietmann · Herbertshofen, DE
• Marc-Walter Ueberle · Friedberg, DE
• Christian Hartmann · Nemsdorf, DE
• Richard A. Schwarz · Akron, US
• Richard Rudolf · Augsburg, DE

Key dates

• Filing date: Jul 17, 2015
• Grant date: Jul 10, 2018
• Expiry date: Sep 6, 2036

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/09
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

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.