Verfahren zum Betreiben eines Handgeführten Roboters, Entsprechende Datenverarbeitungsvorrichtung und Robotersystem und Verfolgungssystem

Details

Veröffentlichungs-Nr.

EP3444079

Aktenzeichen

EP17186599

Anmeldetag

17. August 2017

Veröffentlichung

16. Februar 2022

Erteilung

16. Februar 2022

Rechtsraum

EP

IPC

B25J9/16

Abstract

The invention relates to a method (25) for operating a hand-guided robot (2) having a jointed arm (9) and an end effector (11). As part of the method (25) a moment is measured at each joint (7) while the robot (2) is being hand-guided or subjected to a mechanical tension due to contact with an external object (14, 17). Based on the measured moment an external moment affecting the robot (2) is determined. Then, a correction factor for a position of the end effector (11) is computed based on the external moment and an absolute accurate model of the robot (2). Then, a current position of the end effector (11) is computed based on a correction model in dependence on the correction factor. The invention also relates to a corresponding storage medium (23), data processing device (3), robotic system (1), and tracking system.

Anmelder

Firma

Siemens Healthcare GmbH

Land

🇩🇪 Deutschland

Fachgebiete