Method to control a robot device and robot device

US8924010B2 · kind B2 · utility

Assignee

• Hocoma AG · CH

Inventors

• Robert Riener · Vaterstetten, DE
• Heike Vallery · Bellinzona, CH
• Alexander Duschau-Wicke · Bellinzona, CH

Key dates

• Filing date: Feb 11, 2010
• Grant date: Dec 30, 2014
• Expiry date: Oct 6, 2031

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/02
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A method to control a robot device that includes at least one manipulator which is moveable in an operating space, at least one actuator which actuates the manipulator, a sensor arrangement having at least one position sensor to determine the actual position of the manipulator and a controller which controls the actuator. The manipulator moves along an actual trajectory by means of an external force provided by an operator. The actuator provides compensation forces onto the manipulator influencing the torques or forces exchanged between operator and manipulator. The controller includes a conservative force field module having a conservative force field. The controller provides control signals for the actuator which provides the compensation force based on the control signals. The control signals are based on the conservative force field and on the actual position of the manipulator.