Controlling A Compliant-Controlled Robot

摘要

In one aspect, a method for controlling a compliant-controlled robot includes performing a boundary monitoring of the robot and controlling movement of the robot with a return force that is predetermined by control technology. If the robot is already in a blocked area upon activation of the boundary monitoring, then a first return force operates to return the robot from a current position in the blocked area toward a boundary of the blocked area. If the robot arrived at the current position in the blocked area after activation of the boundary monitoring, then a second return force operates to return the robot from the current position toward the boundary. The first return force is at least temporarily less than the second return force.

主权项

1. A method for controlling a compliant-controlled robot, the method comprising:
performing a boundary monitoring of the robot; controlling movement of the robot with a first return force if the robot, upon activation of the boundary monitoring, is already in a blocked area, wherein the first return force operates to return the robot from a current position in the blocked area toward a boundary of the blocked area and is predetermined by control technology; and controlling movement of the robot with a second return force if the robot arrived at the current position in the blocked area after activation of the boundary monitoring, wherein the second return force operates to return the robot from the current position toward the boundary and is predetermined by control technology; wherein the first return force is at least temporarily less than the second return force.