Method and control means for controlling a robot

US9592606B2 · kind B2 · utility

Assignee

• KUKA Roboter GmbH · DE

Inventors

• Jonas Rumping · Munich, DE
• Christian Sonner · Hersbruck, DE

Key dates

• Filing date: Jun 6, 2012
• Grant date: Mar 14, 2017
• Expiry date: Jul 22, 2032

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/49
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

According to a method according to the invention for controlling a robot, in particular a human-collaborating robot, a robot- or task-specific redundancy of the robot is resolved, wherein, in order to resolve the redundancy, a pose-dependent inertia variable of the robot is minimized.