METHOD FOR TRACKING A HAND-GUIDED ROBOT, HAND-GUIDED ROBOT, COMPUTER PROGRAM, AND ELECTRONICALLY READABLE STORAGE MEDIUM

A method is provided for tracking a hand-guided robot including a control unit and at least one manipulator coupled to an end effector, in which the manipulator includes a plurality of joints and links and the end effector is manually displaceable within an operational volume. In the method, the con...

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Bibliographische Detailangaben
1. Verfasser:	Mönnich, Holger
Format:	Patent
Sprache:	eng
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING
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Beschreibung
Zusammenfassung:	A method is provided for tracking a hand-guided robot including a control unit and at least one manipulator coupled to an end effector, in which the manipulator includes a plurality of joints and links and the end effector is manually displaceable within an operational volume. In the method, the control unit determines at least one movement information of each joint during and/or after a manual or partially manual displacement of the end effector, and a position and orientation information of the end effector inside the operational volume during and/or after the displacement of the end effector using the determined movement information of each joint and a software-based kinematic and dynamic model of the manipulator stored in a memory of the control unit.