METHOD FOR ALIGNING ROBOT ARM
The invention relates to a method for orienting a robot arm (100) into a superordinate reference position (Pr). The robot arm has a plurality of robot joints (J1 to J7) each of which comprises a drive (1) enabling a rotation about an associated axis of rotation (A1 to A7), and an associated eccentri...
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| creator | BERGMANN DOMINIK MOSE CHRISTIAN MANTEL MIRJAM BACHMANN CHRISTIAN PAIS GUILLAUME |
| description | The invention relates to a method for orienting a robot arm (100) into a superordinate reference position (Pr). The robot arm has a plurality of robot joints (J1 to J7) each of which comprises a drive (1) enabling a rotation about an associated axis of rotation (A1 to A7), and an associated eccentric lever element (200) is formed from one or more further sub-elements of the robot arm for at least two selected robot joints (J2, J3, J5, Ga, Gb, Gc). The method comprises i) automatically orienting a drive of a selected first robot joint (Gb) to a first target position ([theta] b1), the associated first eccentric lever element (200b) being in a reversal orientation, ii) automatically orienting the drive of the selected second robot joint (Ga) to a second target position ([theta] a2) in which a second eccentric lever element (200a) is associated in a reversal orientation, the sub-steps i) and ii) being repeated in succession in an iterative loop until the angular change caused in each sub-step falls below a predet |
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The robot arm has a plurality of robot joints (J1 to J7) each of which comprises a drive (1) enabling a rotation about an associated axis of rotation (A1 to A7), and an associated eccentric lever element (200) is formed from one or more further sub-elements of the robot arm for at least two selected robot joints (J2, J3, J5, Ga, Gb, Gc). The method comprises i) automatically orienting a drive of a selected first robot joint (Gb) to a first target position ([theta] b1), the associated first eccentric lever element (200b) being in a reversal orientation, ii) automatically orienting the drive of the selected second robot joint (Ga) to a second target position ([theta] a2) in which a second eccentric lever element (200a) is associated in a reversal orientation, the sub-steps i) and ii) being repeated in succession in an iterative loop until the angular change caused in each sub-step falls below a predet</description><language>chi ; eng</language><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES ; HAND TOOLS ; MANIPULATORS ; PERFORMING OPERATIONS ; PORTABLE POWER-DRIVEN TOOLS ; TRANSPORTING</subject><creationdate>2022</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20220118&DB=EPODOC&CC=CN&NR=113942034A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,776,881,25542,76289</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20220118&DB=EPODOC&CC=CN&NR=113942034A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>BERGMANN DOMINIK</creatorcontrib><creatorcontrib>MOSE CHRISTIAN</creatorcontrib><creatorcontrib>MANTEL MIRJAM</creatorcontrib><creatorcontrib>BACHMANN CHRISTIAN</creatorcontrib><creatorcontrib>PAIS GUILLAUME</creatorcontrib><title>METHOD FOR ALIGNING ROBOT ARM</title><description>The invention relates to a method for orienting a robot arm (100) into a superordinate reference position (Pr). The robot arm has a plurality of robot joints (J1 to J7) each of which comprises a drive (1) enabling a rotation about an associated axis of rotation (A1 to A7), and an associated eccentric lever element (200) is formed from one or more further sub-elements of the robot arm for at least two selected robot joints (J2, J3, J5, Ga, Gb, Gc). The method comprises i) automatically orienting a drive of a selected first robot joint (Gb) to a first target position ([theta] b1), the associated first eccentric lever element (200b) being in a reversal orientation, ii) automatically orienting the drive of the selected second robot joint (Ga) to a second target position ([theta] a2) in which a second eccentric lever element (200a) is associated in a reversal orientation, the sub-steps i) and ii) being repeated in succession in an iterative loop until the angular change caused in each sub-step falls below a predet</description><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</subject><subject>HAND TOOLS</subject><subject>MANIPULATORS</subject><subject>PERFORMING OPERATIONS</subject><subject>PORTABLE POWER-DRIVEN TOOLS</subject><subject>TRANSPORTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2022</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZJD1dQ3x8HdRcPMPUnD08XT38_RzVwjyd_IPUXAM8uVhYE1LzClO5YXS3AyKbq4hzh66qQX58anFBYnJqXmpJfHOfoaGxpYmRgbGJo7GxKgBAHwfINE</recordid><startdate>20220118</startdate><enddate>20220118</enddate><creator>BERGMANN DOMINIK</creator><creator>MOSE CHRISTIAN</creator><creator>MANTEL MIRJAM</creator><creator>BACHMANN CHRISTIAN</creator><creator>PAIS GUILLAUME</creator><scope>EVB</scope></search><sort><creationdate>20220118</creationdate><title>METHOD FOR ALIGNING ROBOT ARM</title><author>BERGMANN DOMINIK ; MOSE CHRISTIAN ; MANTEL MIRJAM ; BACHMANN CHRISTIAN ; PAIS GUILLAUME</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_CN113942034A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>chi ; eng</language><creationdate>2022</creationdate><topic>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</topic><topic>HAND TOOLS</topic><topic>MANIPULATORS</topic><topic>PERFORMING OPERATIONS</topic><topic>PORTABLE POWER-DRIVEN TOOLS</topic><topic>TRANSPORTING</topic><toplevel>online_resources</toplevel><creatorcontrib>BERGMANN DOMINIK</creatorcontrib><creatorcontrib>MOSE CHRISTIAN</creatorcontrib><creatorcontrib>MANTEL MIRJAM</creatorcontrib><creatorcontrib>BACHMANN CHRISTIAN</creatorcontrib><creatorcontrib>PAIS GUILLAUME</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>BERGMANN DOMINIK</au><au>MOSE CHRISTIAN</au><au>MANTEL MIRJAM</au><au>BACHMANN CHRISTIAN</au><au>PAIS GUILLAUME</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>METHOD FOR ALIGNING ROBOT ARM</title><date>2022-01-18</date><risdate>2022</risdate><abstract>The invention relates to a method for orienting a robot arm (100) into a superordinate reference position (Pr). The robot arm has a plurality of robot joints (J1 to J7) each of which comprises a drive (1) enabling a rotation about an associated axis of rotation (A1 to A7), and an associated eccentric lever element (200) is formed from one or more further sub-elements of the robot arm for at least two selected robot joints (J2, J3, J5, Ga, Gb, Gc). The method comprises i) automatically orienting a drive of a selected first robot joint (Gb) to a first target position ([theta] b1), the associated first eccentric lever element (200b) being in a reversal orientation, ii) automatically orienting the drive of the selected second robot joint (Ga) to a second target position ([theta] a2) in which a second eccentric lever element (200a) is associated in a reversal orientation, the sub-steps i) and ii) being repeated in succession in an iterative loop until the angular change caused in each sub-step falls below a predet</abstract><oa>free_for_read</oa></addata></record> |
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| subjects | CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING |
| title | METHOD FOR ALIGNING ROBOT ARM |
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