A METHOD FOR CONTROLLING AN INDUSTRIAL ROBOT BY TOUCH
A robot and method for controlling an industrial robot, which has a first robot arm, a second robot arm, a joint defining a kinematic pair between the first and second robot arms, an actuator for generating relative movement between the first and second robot arms, and a robot controller for control...
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| creator | JERREGÅRD, Henrik GROTH, Tomas |
| description | A robot and method for controlling an industrial robot, which has a first robot arm, a second robot arm, a joint defining a kinematic pair between the first and second robot arms, an actuator for generating relative movement between the first and second robot arms, and a robot controller for controlling the movements of the actuator. The method includes the steps of: determining a presence of a first torque indication at the actuator to be interpreted as a first command to the robot controller; repeatedly obtaining an external torque value (τext) to obtain an external torque behavior; comparing the external torque behavior with the first torque indication; and executing a robot function corresponding to the first command upon detecting that the external torque behavior corresponds to the first torque indication. The obtained external torque behavior depends on a reference torque value (τref) obtained from a dynamic model of the robot. |
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The method includes the steps of: determining a presence of a first torque indication at the actuator to be interpreted as a first command to the robot controller; repeatedly obtaining an external torque value (τext) to obtain an external torque behavior; comparing the external torque behavior with the first torque indication; and executing a robot function corresponding to the first command upon detecting that the external torque behavior corresponds to the first torque indication. 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The method includes the steps of: determining a presence of a first torque indication at the actuator to be interpreted as a first command to the robot controller; repeatedly obtaining an external torque value (τext) to obtain an external torque behavior; comparing the external torque behavior with the first torque indication; and executing a robot function corresponding to the first command upon detecting that the external torque behavior corresponds to the first torque indication. The obtained external torque behavior depends on a reference torque value (τref) obtained from a dynamic model of the robot.</description><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</subject><subject>CONTROL OR REGULATING SYSTEMS IN GENERAL</subject><subject>CONTROLLING</subject><subject>FUNCTIONAL ELEMENTS OF SUCH SYSTEMS</subject><subject>HAND TOOLS</subject><subject>MANIPULATORS</subject><subject>MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS</subject><subject>PERFORMING OPERATIONS</subject><subject>PHYSICS</subject><subject>PORTABLE POWER-DRIVEN TOOLS</subject><subject>REGULATING</subject><subject>TRANSPORTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2020</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZDB1VPB1DfHwd1Fw8w9ScPb3Cwny9_Hx9HNXcPRT8PRzCQ0OCfJ09FEI8nfyD1FwilQI8Q919uBhYE1LzClO5YXS3AwKbq4hzh66qQX58anFBYnJqXmpJfGuAcZG5uYmZuZOhsZEKAEAkTInNA</recordid><startdate>20200429</startdate><enddate>20200429</enddate><creator>JERREGÅRD, Henrik</creator><creator>GROTH, Tomas</creator><scope>EVB</scope></search><sort><creationdate>20200429</creationdate><title>A METHOD FOR CONTROLLING AN INDUSTRIAL ROBOT BY TOUCH</title><author>JERREGÅRD, Henrik ; GROTH, Tomas</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_EP3277467B13</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng ; fre ; ger</language><creationdate>2020</creationdate><topic>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</topic><topic>CONTROL OR REGULATING SYSTEMS IN GENERAL</topic><topic>CONTROLLING</topic><topic>FUNCTIONAL ELEMENTS OF SUCH SYSTEMS</topic><topic>HAND TOOLS</topic><topic>MANIPULATORS</topic><topic>MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS</topic><topic>PERFORMING OPERATIONS</topic><topic>PHYSICS</topic><topic>PORTABLE POWER-DRIVEN TOOLS</topic><topic>REGULATING</topic><topic>TRANSPORTING</topic><toplevel>online_resources</toplevel><creatorcontrib>JERREGÅRD, Henrik</creatorcontrib><creatorcontrib>GROTH, Tomas</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>JERREGÅRD, Henrik</au><au>GROTH, Tomas</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>A METHOD FOR CONTROLLING AN INDUSTRIAL ROBOT BY TOUCH</title><date>2020-04-29</date><risdate>2020</risdate><abstract>A robot and method for controlling an industrial robot, which has a first robot arm, a second robot arm, a joint defining a kinematic pair between the first and second robot arms, an actuator for generating relative movement between the first and second robot arms, and a robot controller for controlling the movements of the actuator. The method includes the steps of: determining a presence of a first torque indication at the actuator to be interpreted as a first command to the robot controller; repeatedly obtaining an external torque value (τext) to obtain an external torque behavior; comparing the external torque behavior with the first torque indication; and executing a robot function corresponding to the first command upon detecting that the external torque behavior corresponds to the first torque indication. The obtained external torque behavior depends on a reference torque value (τref) obtained from a dynamic model of the robot.</abstract><oa>free_for_read</oa></addata></record> |
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| language | eng ; fre ; ger |
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| subjects | CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS HAND TOOLS MANIPULATORS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING TRANSPORTING |
| title | A METHOD FOR CONTROLLING AN INDUSTRIAL ROBOT BY TOUCH |
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