Method to control a robot device and robot device

摘要

A method to control a robot device that includes at least one manipulator which is moveable in an operating space, at least one actuator which actuates the manipulator, a sensor arrangement having at least one position sensor to determine the actual position of the manipulator and a controller which controls the actuator. The manipulator moves along an actual trajectory by means of an external force provided by an operator. The actuator provides compensation forces onto the manipulator influencing the torques or forces exchanged between operator and manipulator. The controller includes a conservative force field module having a conservative force field. The controller provides control signals for the actuator which provides the compensation force based on the control signals. The control signals are based on the conservative force field and on the actual position of the manipulator.

主权项

1. A method to control a robot device which comprises at least one manipulator which is moveable in an operating space, at least one actuator which actuates said manipulator, a sensor arrangement having at least one position sensor to determine an actual position of the manipulator and a controller which controls said actuator, the method comprising:
moving said manipulator along an actual trajectory by means of an external force provided by an operator; providing compensation forces from the actuator onto the manipulator influencing torques or forces exchanged between the operator and manipulator; defining a conservative force field with a conservative force field module of the controller by the steps of: defining at least one predefined trajectory in the operating space; creating a force field based on positions of the manipulator in the operating space on said predefined trajectories and based on at least one of the group comprising the velocities of the predefined trajectories and the accelerations of the predefined trajectories; and calculating a conservative force field based on, said force field as a function of the position of the manipulator, wherein the conservative force field serves to determine control signals; and providing control signals from the controller for said actuator which provides said compensation forces based on the control signals, wherein the control signals are based on the conservative force field and on the actual position of the manipulator.