Method and device for controlling a manipulator

US9227321B2 · kind B2 · utility

Assignee

• KUKA Roboter GmbH · DE

Inventors

• Simon Klumpp · Bad Liebenzell, DE
• Günter Schreiber · Friedberg, DE

Key dates

• Filing date: Dec 8, 2010
• Grant date: Jan 5, 2016
• Expiry date: Jul 17, 2031

Classification

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

Abstract

A method for controlling a manipulator includes determining by a control device one or more contact force values between the manipulator and a first workpiece. Each of the contact force values is based on an actual driving force of the manipulator and a drive force according to a dynamic model of the manipulator. The method also includes at least one of a) measuring in multiple stages an orientation and location of the first workpiece based on at least one of the one or more determined contact force values or b) joining a second workpiece and the first workpiece under a compliant regulation, where a joining state of the first and second workpieces is monitored based on at least one of an end pose of the manipulator obtained under the compliant regulation, a speed of a temporal change of the manipulator, or at least one of the one or more determined contact force values.