Systems and hybrid position force control processes of an industrial robot
US12409553B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Mar 24, 2023 |
| Grant date | Sep 9, 2025 |
| Priority date | — |
| Expiry date | Nov 21, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39322
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The present process of controlling an industrial robot includes steps consisting of calculating a time-dependent composite setpoint defining articular forces and/or velocities, according to a target trajectory and to an operating mode; calculating (S106) 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 (S108) an articular force setpoint for controlling the axis controller module and calculating the time derivative of a homogeneous internal state at an articular position. The articular force setpoint for controlling the axis controller module is calculated from a control function which adjusts the difference between the articular position and the internal state determined by integrating said time derivative of the internal state.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.