Method and device for controlling a manipulator

摘要

A method for controlling a manipulator includes determining by a control device one or more contact force values between the manipulator and a first workpiece. Each of the contact force values is based on an actual driving force of the manipulator and a drive force according to a dynamic model of the manipulator. The method also includes at least one of a) measuring in multiple stages an orientation and location of the first workpiece based on at least one of the one or more determined contact force values or b) joining a second workpiece and the first workpiece under a compliant regulation, where a joining state of the first and second workpieces is monitored based on at least one of an end pose of the manipulator obtained under the compliant regulation, a speed of a temporal change of the manipulator, or at least one of the one or more determined contact force values.

主权项

1. A method for controlling a manipulator, the method comprising:
assuming a pose by the manipulator according to a rigid regulation; determining by a control device one or more contact force values between the manipulator and a first workpiece by comparing an actual driving force of the manipulator to a drive force according to a dynamic model of the manipulator; determining that one of the one or more determined contact force values exceeds a predetermined value; switching to a compliant regulation in response to determining that the one determined contact force value exceeds the predetermined value; and joining a second workpiece and the first workpiece under the compliant regulation, wherein a joining state of the first and second workpieces is monitored based on the one or more determined contact force values, and the second and first workpieces are joined using an elastic or plastic deformation.