Method for controlling a robot arm, and robot for implementing the method

US7646161B2 · kind B2 · utility

Assignees

• DEUTSCHES ZENTRUM FÜR LUFT—UND RAUMFAHRT E.V. · DE
• Brainlab AG · DE

Inventors

• Alin Albu-Schäffer · Birkenfeld, DE
• Christian Ott · Speyer, DE
• Ulrich Hagn · Munich, DE
• Tobias Ortmaier · Hemmingen, DE

Key dates

• Filing date: Nov 15, 2006
• Grant date: Jan 12, 2010
• Expiry date: Jul 19, 2027

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40599
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

In a method for controlling a robot arm, which is particularly suitable for use in medical applications, a robot arm (10) with a redundant number of joints is used. A torque acting in at least one joint (12a, 12b) is sensed. By means of a control device, the torque acting in this joint (12a, 12b) is controlled to become substantially 0.