Switching a control of a robot into a manual operating mode

US10350765B2 · kind B2 · utility

Assignee

• KUKA Deutschland GmbH · DE

Inventors

• Marc-Walter Ueberle · Friedberg, DE
• Matthias Rohmer · Augsburg, DE
• Tobias Reichl · Munich, DE
• Günter Schreiber · Friedberg, DE
• Martin Mueller-Sommer · Aindling, DE
• Uwe Bonin · Augsburg, DE

Key dates

• Filing date: Jun 23, 2016
• Grant date: Jul 16, 2019
• Expiry date: Oct 11, 2036

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/39433
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

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.