Systems and hybrid position force control processes of an industrial robot
US12337483B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Mar 24, 2023 |
| Grant date | Jun 24, 2025 |
| Priority date | — |
| Expiry date | Oct 4, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/42123
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The present process of controlling an industrial robot includes steps consisting of calculating, in the modules implemented by the central unit, a time-dependent composite setpoint defining articular forces and velocities, according to a target trajectory and to an operating mode; calculating, in modules implemented by the central unit, a behavior matrix which describes a desired behavior of the robot arm, defining directions along which the calculated composite setpoint is to be applied; calculating, in a module implemented by the in auxiliary unit, an articular force setpoint for controlling the axis controller module; and calculating, in the axis controller module implemented by the auxiliary unit, the control setpoints for the power units according to the articular force setpoint.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.