METHOD FOR OPERATING A ROBOTIC DEVICE AND ROBOTIC DEVICE

摘要

A method for operating a robotic device with a kinematic chain of mobile components is provided. The kinematic chain includes a function-specific end-effector at one end. Sensor values are acquired by sensors of the robotic device arranged on the kinematic chain or in the environment of the kinematic chain. A force acting on the end-effector or another component of the kinematic chain, or a variable dependent thereupon, is determined in a prespecified manner based on the acquired sensor values. The force or variable determined is compared with a prespecified first safety limit value by a control mechanism of the robotic device. A characteristic of the kinematic chain or the function-specific end-effector is adapted if the force or variable determined is in a prespecified relationship to the first safety limit value in order to increase the operational safety of a robotic device and of people in the environment of the robotic device.

主权项

1. A method for operating a robotic device with a kinematic chain of mobile components, wherein the kinematic chain comprises a function-specific end-effector at one end, the method comprising:
acquiring respective sensor values using sensors of the robotic device arranged on the kinematic chain or in an environment of the kinematic chain; determining a force applied to the function-specific end-effector or another component of the kinematic chain, or a variable dependent thereupon, in a prespecified manner based on the acquired sensor values; comparing the force or variable determined with a prespecified first safety limit value by a control mechanism of the robotic device; and adapting a characteristic of the kinematic chain or of the function-specific end-effector when the determined force or variable is in a prespecified relationship to the first safety limit value.