Method for operating a multi-limb manipulator

US9434075B2 · kind B2 · utility

Assignee

• Festo AG & Co. KG · DE

Inventors

• Matthias Doll · Wernau, DE
• Armin Hartmann · Esslingen am Neckar, DE
• Rüdiger Neumann · Esslingen am Neckar, DE

Key dates

• Filing date: Sep 24, 2014
• Grant date: Sep 6, 2016
• Expiry date: Dec 11, 2034

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/28
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A method for operating a multi-limb manipulator which includes electric actuators assigned to manipulator limbs, control units assigned to the actuators, including: the provision of desired movement values for the actuator to an actuator dynamic model and the determination of an electric desired current value for the actuator, the transfer of the desired current value to a controller designed for outputting an actuator current to the actuator with the inclusion of the desired current value and of a measured actual current value and a measured actual position of the actuator, wherein a difference between the desired current value and the actual current value is determined as a required positional deviation, and wherein the positional deviation is added to the desired distance fed into the actuator dynamic model to facilitate a diversion movement of the manipulator limb operated by the actuator on the occurrence of an external disturbing force.