| 发明名称 |
Monitoring A Kinematically Redundant Robot |
| 摘要 |
A method for monitoring a kinematically redundant robot includes detecting joint forces acting in the joints of the robot, determining an external work force between a robot-permanent reference point and an environment based on the detected joint forces, determining a further monitoring variable that is at least substantially independent of an external force acting on the robot-permanent reference point based on the detected joint forces, and monitoring the determined external work force and the determined further monitoring variable. |
| 申请公布号 |
US2014379126(A1) |
申请公布日期 |
2014.12.25 |
| 申请号 |
US201414309241 |
申请日期 |
2014.06.19 |
| 申请人 |
KUKA Laboratories GmbH |
发明人 |
Ueberle Marc-Walter |
| 分类号 |
G01L3/00;B25J9/16 |
主分类号 |
G01L3/00 |
| 代理机构 |
|
代理人 |
|
| 主权项 |
1. A method for monitoring a kinematically redundant robot, the method comprising:
detecting joint forces acting in joints of the robot; determining an external work force between a robot-permanent reference point and an environment based on the detected joint forces; determining, based on the detected joint forces, a further monitoring variable which is at least substantially independent of an external force acting on the robot-permanent reference point; and monitoring the determined external work force and the determined further monitoring variable. |
| 地址 |
Augsburg DE |
