Controlling a compliant-controlled robot

US10576629B2 · kind B2 · utility

Assignee

• KUKA Deutschland GmbH · DE

Inventors

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

Key dates

• Filing date: Jul 13, 2016
• Grant date: Mar 3, 2020
• Expiry date: Oct 15, 2036

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40359
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

In one aspect, a method for controlling a compliant-controlled robot includes performing a boundary monitoring of the robot and controlling movement of the robot with a return force that is predetermined by control technology. If the robot is already in a blocked area upon activation of the boundary monitoring, then a first return force operates to return the robot from a current position in the blocked area toward a boundary of the blocked area. If the robot arrived at the current position in the blocked area after activation of the boundary monitoring, then a second return force operates to return the robot from the current position toward the boundary. The first return force is at least temporarily less than the second return force.