Kuka Roboter Gmbh

Kuka Deutschland Gmbh

Kuka Laboratories Gmbh

Marc-Walter Ueberle

Günter Schreiber

Tobias Ortmaier

Uwe Bonin

Dirk Jacob

Thomas Neff

Matthias Rohmer

Martin Mueller-Sommer

Christian Hartmann

Martin Kuschel

Gerhard Hietmann

Tobias Reichl

Hartmut Keyl

Richard Rudolf

Richard Schwarz

Denis Pesotski

Botond Gorog

Giulio Milighetti

Robert Bertossi

Thomas Wecker

A method for switching a control of a robot into a manual operating mode, wherein the robot is movable by a user manually applying at least one of a force or a torque upon the robot, includes detecting at least one of joint forces or joint torques of the robot, and triggering an error reaction in response to the switching and based on at least one of the detected joint forces and/or joint torques, target joint forces and/or target joint torques, or a pose of the robot.

Switching a control of a robot into a manual operating mode

A method for controlling a robot having a drive arrangement with at least one drive includes determining an actual velocity of the robot, determining a target velocity for the robot, and determining a damping drive parameter based on a difference between the target velocity and the actual velocity. The target velocity is determined based on at least one of a predetermined maximum velocity, a predetermined minimum velocity, or a first distance of the robot from at least one predetermined boundary. The drive arrangement of the robot is then controlled based on the damping drive parameter.

Control of a robot

A method for controlling a robot in at least one pose of the robot wherein the robot can be operated in either a first mode of operation or a second mode of operation. In the second mode of operation the robot can be moved by manually applying a guiding force to the robot. The method includes determining a distance of a state variable of the robot from a first limit and then triggering a safety response when the distance satisfies a first condition and the robot is operating in the first mode of operation. When the robot is operating in the second mode of operation and the distance satisfies the first condition, the method includes not triggering the safety response, and motorically applying a positioning force to the robot in dependence on the determined distance so that the distance can be reduced when the robot is unobstructed.

Method and apparatus for controlling a robot

A telepresence system includes a man-machine interface and a teleoperator configured to communicate bidirectionally with the man-machine interface via a communications channel. The teleoperator performs actions based on first signals generated due to a manual operation of the man-machine interface and transmitted over the communication channel, and sends second signals to the man-machine interface over a second communication channel. At least one buffer device buffers signals transferred through the communication channel and releases the signals delayed so that the signals coming from the man-machine interface and the signals coming from the teleoperator each are transmitted through the communication channel with an effective constant time delay.

Telepresence system

A method of safety monitoring for a robot assembly with at least one robot that is configured with a linking function arrangement with at least one first linking function including a fixed and predetermined number of monitoring functions of a monitoring function arrangement. The monitoring functions are logically linked to one another such that the first linking function has a reaction state whenever all of the monitoring functions indicate the violated and/or error state. The first linking function does not have a reaction state whenever any monitoring function from the plurality of monitoring functions does not indicate the violated and/or error state. The reaction state is executed by the controller when all of the monitoring functions are in the violated and/or error state.

Configurable security monitoring for a robot assembly

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.

Monitoring a kinematically redundant robot

A method for controlling a robot includes monitoring the robot, and carrying out a fault reaction, selected from a number of specified fault reactions, on the basis of the monitoring of the robot, wherein the fault reaction is selected on the basis of a monitoring of an operational capability and/or an output variable of at least one motor of the robot.

Method for controlling a robot

The invention relates to a medical robot (R) and a method for meeting the performance requirements of a medical robot (R). The robot (R) comprises several axes (-) and a controller (). A medical tool (-) is fixed to a fixing device () on the robot (R) and the working range () of the robot (R) is set by the controller () in particular with safe techniques such that the robot (R) meets the performance requirements of the medical tool (-).

Medical robot and method for meeting the performance requirements of a medical robot

A medical work station for treating a living being using a medical instrument includes at least one robot arm, which has a plurality of members connected by joints, drives to move the members, and an attaching device, at least one control device coupled with the drives, which is set up to generate signals for actuating the drives, so that the attaching devices carry out movements assigned to the signals, and a display device coupled with the control device.

Medical workstation

In a method to test a brake of a robot that has a number of axes, an actuator associated with one of the axes, a brake associated with this axis that is set up to at least reduce a movement of this axis, and a torque sensor associated with this axis, which determines the torque acting on this axis. The brake is activated, the torque acting on the axis is determined by the torque sensor given an activated brake, and the functional capability of the brake is assessed in a processor based on an evaluation of the torque determined by the torque sensor.

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Friedberg, Germany

Marc-Walter Ueberle