Dual mode free-drive of robot arm
US11839979B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 17, 2019 |
| Grant date | Dec 12, 2023 |
| Priority date | — |
| Expiry date | Sep 19, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40586
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Method and robot arm, where the motor torques of the joint motors of a robot arm are controlled based on a static motor torque indicating the motor torque needed to maintain the robot arm in a static posture, where the static motor torque is adjusted in response to a change in posture of the robot arm caused by an external force different from gravity applied to the robot arm. Further the motor torque of the joint motors is controlled based on an additional motor torque obtained based on a force-torque provided to the robot tool flange, where the force-torque is obtained by a force-torque sensor integrated in the tool flange of the robot arm.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.