Method for operating a robot, data memory with corresponding program code, robot, and robot system

US11173604B2 · kind B2 · utility

Assignee

• Siemens Healthcare Limited · DE

Inventors

• Holger Mönnich · Friedberg, DE
• Rafik Mebarki · Fürth, DE

Key dates

• Filing date: Jun 12, 2019
• Grant date: Nov 16, 2021
• Expiry date: Feb 29, 2040

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40338
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

The disclosure relates to a method for operating a robot, a data memory with a corresponding program code, the corresponding robot, and a corresponding robot system. Different coordinate system and their relationships to one another are used to position a tool in a target pose. A stationary reference coordinate system originating at a robot foot of the robot and a target coordinate system originating at the tool are specified. Herein, a z-axis of the target coordinate system corresponds to a specified axis of the tool. The orientations of an x-axis and a y-axis of the target coordinate system are calculated by a first cross product of the orientation of the specified axis and a direction vector, that is not parallel thereto, of coordinate axis of the reference coordinate system and by a second cross product of a result of the first cross product and the orientation of the specified axis.