Franka Emika Gmbh

Björn Pietsch

Sami Haddadin

Tim Rokahr

A robot having actuator-driven elements, actuators to drive the elements, and brakes to decelerate the elements, the robot requiring voltage Uand/or current I, the robot including: a source having an input to which voltage Uand current Iare applied, wherein, during normal operation, Uis equal to voltage Uand Iis equal to current I, and having an output to which voltage Uand current Iare supplied, wherein during normal operation: U=Uand I=I, an energy store integrated into the source for maintaining Uand Ifor time &#x394;t following failure or drop in Uand/or I, a unit for monitoring U, wherein as soon as Udeviates by amount &#x394;U from U, a signal is generated, and a control unit connected to the unit for controlling the robot and its elements into a predefined safe state upon receipt of the signal.

Robot having a controller protected for a network failure

A system for controlling a robot. The system includes: an interface that provides data DAT(t) captured by one or more sensors, wherein the data DAT(t) indicate a current state ZUS(t) of the robot, a first processor that is connected to the interface and that is set up to use a first algorithm to check, on the basis of the data DAT(t) and a prescribed state space Z, which indicates exclusively permitted states of the robot, whether it holds that: ZUS(t)&#x3f5;Z, wherein in the event of: ZUS(t)&#x2209;Z a first stop signal Sigis generated, a unit, connected to the first processor via a data link, for generating a second stop signal Sig, which generates the second stop signal Sigwhen the unit receives the first stop signal Sigor when the unit establishes that the data link is interrupted, a second processor, connected to the interface and the first processor or only to the first processor, that is set up to use a second algorithm to check, on the basis of the data DAT(t) and a prescribed state space Z' or a boundary for the state space Z&#x2032;, whether it holds that: ZUS(t)&#x3f5;Z&#x2032;, wherein in the event of ZUS(t)&#x2209;Z&#x2032; the second processor prompts an interruption unit to interrupt the data link between the first processor and the unit, and a control unit, connected to the unit, for controlling the robot, which control unit controls/regulates the robot into a prescribed safe state when the second stop signal Sigis present.

System and method for controlling a robot

The invention relates to a joint device, comprising an electric motor, an electrically controllable blocking apparatus), various control apparatuses, and a brake system, in the case of which brake system, in various alternatives, the brake system takes maximum energy from the system by means of active closed-loop/open-loop control or by triggering a (cycled) short circuit whenever possible and only triggers the mechanical blocking as a last resort in order to protect the mechanical and electrical system itself, but nevertheless ensures that the system is securely shut down after a maximum time.

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Munich, Germany

Björn Pietsch