Method for operating a multi-limb manipulator

摘要

A method for operating a multi-limb manipulator which includes electric actuators assigned to manipulator limbs, control units assigned to the actuators, including: the provision of desired movement values for the actuator to an actuator dynamic model and the determination of an electric desired current value for the actuator, the transfer of the desired current value to a controller designed for outputting an actuator current to the actuator with the inclusion of the desired current value and of a measured actual current value and a measured actual position of the actuator, wherein a difference between the desired current value and the actual current value is determined as a required positional deviation, and wherein the positional deviation is added to the desired distance fed into the actuator dynamic model to facilitate a diversion movement of the manipulator limb operated by the actuator on the occurrence of an external disturbing force.

主权项

1. A method for operating a multi-limb manipulator which comprises at least one electric actuator for introducing a relative movement into adjacent manipulator limbs, and a control unit comprising a controller for a controlled energy supply to the at least one electric actuator, the method comprising the steps of:
providing desired movement values for the at least one electric actuator to an actuator dynamic model, the desired movement values including a desired distance and at least one of a desired velocity and a desired acceleration for the at least one electric actuator; determining an electric desired current value in the actuator dynamic model, the electric desired current value being an amount of current necessary for the at least one electric actuator in order to obtain the desired movement values for the at least one electric actuator; transferring the electric desired current value or the electric desired current value and the desired movement values to the controller of the control unit; determining an actuator current demand in the controller, the determined actuator current demand being based on the electric desired current value and on a measured actual current value and on a measured actual position of the at least one electric actuator; outputting the actuator current demand from the controller to the at least one electric actuator; determining a difference between the electric desired current value and the measured actual current value; converting the determined difference between the electric desired current value and the measured actual current value into a required positional deviation of the at least one electric actuator; and adding the required positional deviation to the desired distance provided to the actuator dynamic model in order to facilitate a diversion movement of the at least one manipulator limb operated by the at least one electric actuator on an occurrence of an external disturbing force.